ContactSurface.hpp File Reference

#include <Eigen/Core>
#include "dart/collision/Contact.hpp"
#include "dart/constraint/SmartPointer.hpp"
#include "dart/dynamics/ShapeNode.hpp"

Go to the source code of this file.

Classes
struct	dart::constraint::ContactSurfaceParams
	Computed parameters of the contact surface. More...
class	dart::constraint::ContactSurfaceHandler
	Class used to determine the properties of a contact constraint based on the two colliding bodies and information about their contact. More...
class	dart::constraint::DefaultContactSurfaceHandler
	Default contact surface handler. More...

Namespaces
namespace	dart
namespace	dart::constraint

Macros
#define	DART_RESTITUTION_COEFF_THRESHOLD   1e-3
#define	DART_FRICTION_COEFF_THRESHOLD   1e-3
#define	DART_BOUNCING_VELOCITY_THRESHOLD   1e-1
#define	DART_MAX_BOUNCING_VELOCITY   1e+2
#define	DART_CONTACT_CONSTRAINT_EPSILON_SQUARED   1e-12

Variables
constexpr double	dart::constraint::DART_DEFAULT_FRICTION_COEFF = 1.0
constexpr double	dart::constraint::DART_DEFAULT_RESTITUTION_COEFF = 0.0
constexpr double	dart::constraint::DART_DEFAULT_SLIP_COMPLIANCE = 0.0
const Eigen::Vector3d	dart::constraint::DART_DEFAULT_FRICTION_DIR = Eigen::Vector3d::UnitZ()
const Eigen::Vector3d	dart::constraint::DART_DEFAULT_CONTACT_SURFACE_MOTION_VELOCITY = Eigen::Vector3d::Zero()

Macro Definition Documentation

DART_BOUNCING_VELOCITY_THRESHOLD

#define DART_BOUNCING_VELOCITY_THRESHOLD   1e-1

DART_CONTACT_CONSTRAINT_EPSILON_SQUARED

#define DART_CONTACT_CONSTRAINT_EPSILON_SQUARED   1e-12

DART_FRICTION_COEFF_THRESHOLD

#define DART_FRICTION_COEFF_THRESHOLD   1e-3

DART_MAX_BOUNCING_VELOCITY

#define DART_MAX_BOUNCING_VELOCITY   1e+2

DART_RESTITUTION_COEFF_THRESHOLD

#define DART_RESTITUTION_COEFF_THRESHOLD   1e-3