ConstraintSolver manages constraints and computes constraint impulses. More...

#include <ConstraintSolver.hpp>

Public Member Functions
	ConstraintSolver (double timeStep)
	Constructor. More...

	ConstraintSolver (const ConstraintSolver &_other)=delete
	Copy constructor. More...

virtual	~ConstraintSolver ()
	Destructor. More...

void	addSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add single skeleton. More...

void	addSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Add mutiple skeletons. More...

void	removeSkeleton (const dynamics::SkeletonPtr &skeleton)
	Remove single skeleton. More...

void	removeSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Remove multiple skeletons. More...

void	removeAllSkeletons ()
	Remove all skeletons in this constraint solver. More...

void	addConstraint (const ConstraintBasePtr &_constraint)
	Add a constraint. More...

void	removeConstraint (const ConstraintBasePtr &_constraint)
	Remove a constraint. More...

void	removeAllConstraints ()
	Remove all constraints. More...

void	clearLastCollisionResult ()
	Clears the last collision result. More...

void	setTimeStep (double _timeStep)
	Set time step. More...

double	getTimeStep () const
	Get time step. More...

void	setCollisionDetector (collision::CollisionDetector *collisionDetector)
	Set collision detector. More...

void	setCollisionDetector (const std::shared_ptr< collision::CollisionDetector > &collisionDetector)
	Set collision detector. More...

collision::CollisionDetectorPtr	getCollisionDetector ()
	Get collision detector. More...

collision::ConstCollisionDetectorPtr	getCollisionDetector () const
	Get (const) collision detector. More...

collision::CollisionGroupPtr	getCollisionGroup ()
	Return collision group of collision objects that are added to this ConstraintSolver. More...

collision::ConstCollisionGroupPtr	getCollisionGroup () const
	Return (const) collision group of collision objects that are added to this ConstraintSolver. More...

collision::CollisionOption &	getCollisionOption ()
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints. More...

const collision::CollisionOption &	getCollisionOption () const
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints. More...

collision::CollisionResult &	getLastCollisionResult ()
	Return the last collision checking result. More...

const collision::CollisionResult &	getLastCollisionResult () const
	Return the last collision checking result. More...

void	setLCPSolver (std::unique_ptr< LCPSolver > _lcpSolver)
	Set LCP solver. More...

LCPSolver *	getLCPSolver () const
	Get LCP solver. More...

void	solve ()
	Solve constraint impulses and apply them to the skeletons. More...

Private Types
using	CollisionDetector = collision::CollisionDetector

Private Member Functions
bool	containSkeleton (const dynamics::ConstSkeletonPtr &_skeleton) const
	Check if the skeleton is contained in this solver. More...

bool	checkAndAddSkeleton (const dynamics::SkeletonPtr &_skeleton)
	Add skeleton if the constraint is not contained in this solver. More...

bool	containConstraint (const ConstConstraintBasePtr &_constraint) const
	Check if the constraint is contained in this solver. More...

bool	checkAndAddConstraint (const ConstraintBasePtr &_constraint)
	Add constraint if the constraint is not contained in this solver. More...

void	updateConstraints ()
	Update constraints. More...

void	buildConstrainedGroups ()
	Build constrained groupsContact. More...

void	solveConstrainedGroups ()
	Solve constrained groups. More...

bool	isSoftContact (const collision::Contact &_contact) const
	Return true if at least one of colliding body is soft body. More...

Private Attributes
collision::CollisionDetectorPtr	mCollisionDetector
	Collision detector. More...

collision::CollisionGroupPtr	mCollisionGroup
	Collision group. More...

collision::CollisionOption	mCollisionOption
	Collision detection option. More...

collision::CollisionResult	mCollisionResult
	Last collision checking result. More...

double	mTimeStep
	Time step. More...

std::unique_ptr< LCPSolver >	mLCPSolver
	LCP solver. More...

std::vector< dynamics::SkeletonPtr >	mSkeletons
	Skeleton list. More...

std::vector< ContactConstraintPtr >	mContactConstraints
	Contact constraints those are automatically created. More...

std::vector< SoftContactConstraintPtr >	mSoftContactConstraints
	Soft contact constraints those are automatically created. More...

std::vector< JointLimitConstraintPtr >	mJointLimitConstraints
	Joint limit constraints those are automatically created. More...

std::vector< ServoMotorConstraintPtr >	mServoMotorConstraints
	Servo motor constraints those are automatically created. More...

std::vector< JointCoulombFrictionConstraintPtr >	mJointCoulombFrictionConstraints
	Joint Coulomb friction constraints those are automatically created. More...

std::vector< ConstraintBasePtr >	mManualConstraints
	Constraints that manually added. More...

std::vector< ConstraintBasePtr >	mActiveConstraints
	Active constraints. More...

std::vector< ConstrainedGroup >	mConstrainedGroups
	Constraint group list. More...

Detailed Description

ConstraintSolver manages constraints and computes constraint impulses.

Member Typedef Documentation

◆ CollisionDetector

using dart::constraint::ConstraintSolver::CollisionDetector = collision::CollisionDetector

private

Constructor & Destructor Documentation

◆ ConstraintSolver() [1/2]

dart::constraint::ConstraintSolver::ConstraintSolver ( double timeStep )

explicit

Constructor.

◆ ConstraintSolver() [2/2]

dart::constraint::ConstraintSolver::ConstraintSolver ( const ConstraintSolver & _other )

delete

Copy constructor.

◆ ~ConstraintSolver()

dart::constraint::ConstraintSolver::~ConstraintSolver ( )

virtual

Destructor.

Member Function Documentation

◆ addConstraint()

void dart::constraint::ConstraintSolver::addConstraint ( const ConstraintBasePtr & _constraint )

Add a constraint.

◆ addSkeleton()

void dart::constraint::ConstraintSolver::addSkeleton ( const dynamics::SkeletonPtr & skeleton )

Add single skeleton.

◆ addSkeletons()

void dart::constraint::ConstraintSolver::addSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

Add mutiple skeletons.

◆ buildConstrainedGroups()

void dart::constraint::ConstraintSolver::buildConstrainedGroups ( )

private

Build constrained groupsContact.

◆ checkAndAddConstraint()

bool dart::constraint::ConstraintSolver::checkAndAddConstraint ( const ConstraintBasePtr & _constraint )

private

Add constraint if the constraint is not contained in this solver.

◆ checkAndAddSkeleton()

bool dart::constraint::ConstraintSolver::checkAndAddSkeleton ( const dynamics::SkeletonPtr & _skeleton )

private

Add skeleton if the constraint is not contained in this solver.

◆ clearLastCollisionResult()

void dart::constraint::ConstraintSolver::clearLastCollisionResult ( )

Clears the last collision result.

◆ containConstraint()

bool dart::constraint::ConstraintSolver::containConstraint ( const ConstConstraintBasePtr & _constraint ) const

private

Check if the constraint is contained in this solver.

◆ containSkeleton()

bool dart::constraint::ConstraintSolver::containSkeleton ( const dynamics::ConstSkeletonPtr & _skeleton ) const

private

Check if the skeleton is contained in this solver.

◆ getCollisionDetector() [1/2]

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( )

Get collision detector.

◆ getCollisionDetector() [2/2]

collision::ConstCollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( ) const

Get (const) collision detector.

◆ getCollisionGroup() [1/2]

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( )

Return collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionGroup() [2/2]

collision::ConstCollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( ) const

Return (const) collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionOption() [1/2]

collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( )

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getCollisionOption() [2/2]

const collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( ) const

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getLastCollisionResult() [1/2]

collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( )

Return the last collision checking result.

◆ getLastCollisionResult() [2/2]

const collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( ) const

Return the last collision checking result.

◆ getLCPSolver()

LCPSolver * dart::constraint::ConstraintSolver::getLCPSolver ( ) const

Get LCP solver.

◆ getTimeStep()

double dart::constraint::ConstraintSolver::getTimeStep ( ) const

Get time step.

◆ isSoftContact()

bool dart::constraint::ConstraintSolver::isSoftContact ( const collision::Contact & _contact ) const

private

Return true if at least one of colliding body is soft body.

◆ removeAllConstraints()

void dart::constraint::ConstraintSolver::removeAllConstraints ( )

Remove all constraints.

◆ removeAllSkeletons()

void dart::constraint::ConstraintSolver::removeAllSkeletons ( )

Remove all skeletons in this constraint solver.

◆ removeConstraint()

void dart::constraint::ConstraintSolver::removeConstraint ( const ConstraintBasePtr & _constraint )

Remove a constraint.

◆ removeSkeleton()

void dart::constraint::ConstraintSolver::removeSkeleton ( const dynamics::SkeletonPtr & skeleton )

Remove single skeleton.

◆ removeSkeletons()

void dart::constraint::ConstraintSolver::removeSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

Remove multiple skeletons.

◆ setCollisionDetector() [1/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( collision::CollisionDetector * collisionDetector )

Set collision detector.

This function acquires ownership of the CollisionDetector passed as an argument. This method is deprecated in favor of the overload that accepts a std::shared_ptr.

◆ setCollisionDetector() [2/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( const std::shared_ptr< collision::CollisionDetector > & collisionDetector )

Set collision detector.

◆ setLCPSolver()

void dart::constraint::ConstraintSolver::setLCPSolver ( std::unique_ptr< LCPSolver > _lcpSolver )

Set LCP solver.

◆ setTimeStep()

void dart::constraint::ConstraintSolver::setTimeStep ( double _timeStep )

Set time step.

◆ solve()

void dart::constraint::ConstraintSolver::solve ( )

Solve constraint impulses and apply them to the skeletons.

◆ solveConstrainedGroups()

void dart::constraint::ConstraintSolver::solveConstrainedGroups ( )

private

Solve constrained groups.

◆ updateConstraints()

void dart::constraint::ConstraintSolver::updateConstraints ( )

private

Update constraints.

Member Data Documentation

◆ mActiveConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mActiveConstraints

private

Active constraints.

◆ mCollisionDetector

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::mCollisionDetector

private

Collision detector.

◆ mCollisionGroup

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::mCollisionGroup

private

Collision group.

◆ mCollisionOption

collision::CollisionOption dart::constraint::ConstraintSolver::mCollisionOption

private

Collision detection option.

◆ mCollisionResult

collision::CollisionResult dart::constraint::ConstraintSolver::mCollisionResult

private

Last collision checking result.

◆ mConstrainedGroups

std::vector<ConstrainedGroup> dart::constraint::ConstraintSolver::mConstrainedGroups

private

Constraint group list.

◆ mContactConstraints

std::vector<ContactConstraintPtr> dart::constraint::ConstraintSolver::mContactConstraints

private

Contact constraints those are automatically created.

◆ mJointCoulombFrictionConstraints

std::vector<JointCoulombFrictionConstraintPtr> dart::constraint::ConstraintSolver::mJointCoulombFrictionConstraints

private

Joint Coulomb friction constraints those are automatically created.

◆ mJointLimitConstraints

std::vector<JointLimitConstraintPtr> dart::constraint::ConstraintSolver::mJointLimitConstraints

private

Joint limit constraints those are automatically created.

◆ mLCPSolver

std::unique_ptr<LCPSolver> dart::constraint::ConstraintSolver::mLCPSolver

private

LCP solver.

◆ mManualConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mManualConstraints

private

Constraints that manually added.

◆ mServoMotorConstraints

std::vector<ServoMotorConstraintPtr> dart::constraint::ConstraintSolver::mServoMotorConstraints

private

Servo motor constraints those are automatically created.

◆ mSkeletons

std::vector<dynamics::SkeletonPtr> dart::constraint::ConstraintSolver::mSkeletons

private

Skeleton list.

◆ mSoftContactConstraints

std::vector<SoftContactConstraintPtr> dart::constraint::ConstraintSolver::mSoftContactConstraints

private

Soft contact constraints those are automatically created.

◆ mTimeStep

double dart::constraint::ConstraintSolver::mTimeStep

private

Time step.

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CollisionDetector

Constructor & Destructor Documentation

◆ ConstraintSolver() [1/2]

◆ ConstraintSolver() [2/2]

◆ ~ConstraintSolver()

Member Function Documentation

◆ addConstraint()

◆ addSkeleton()

◆ addSkeletons()

◆ buildConstrainedGroups()

◆ checkAndAddConstraint()

◆ checkAndAddSkeleton()

◆ clearLastCollisionResult()

◆ containConstraint()

◆ containSkeleton()

◆ getCollisionDetector() [1/2]

◆ getCollisionDetector() [2/2]

◆ getCollisionGroup() [1/2]

◆ getCollisionGroup() [2/2]

◆ getCollisionOption() [1/2]

◆ getCollisionOption() [2/2]

◆ getLastCollisionResult() [1/2]

◆ getLastCollisionResult() [2/2]

◆ getLCPSolver()

◆ getTimeStep()

◆ isSoftContact()

◆ removeAllConstraints()

◆ removeAllSkeletons()

◆ removeConstraint()

◆ removeSkeleton()

◆ removeSkeletons()

◆ setCollisionDetector() [1/2]

◆ setCollisionDetector() [2/2]

◆ setLCPSolver()

◆ setTimeStep()

◆ solve()

◆ solveConstrainedGroups()

◆ updateConstraints()

Member Data Documentation

◆ mActiveConstraints

◆ mCollisionDetector

◆ mCollisionGroup

◆ mCollisionOption

◆ mCollisionResult

◆ mConstrainedGroups

◆ mContactConstraints

◆ mJointCoulombFrictionConstraints

◆ mJointLimitConstraints

◆ mLCPSolver

◆ mManualConstraints

◆ mServoMotorConstraints

◆ mSkeletons

◆ mSoftContactConstraints

◆ mTimeStep