DART  6.6.2
ContactConstraint.cpp File Reference
#include "dart/constraint/ContactConstraint.hpp"
#include <iostream>
#include "dart/external/odelcpsolver/lcp.h"
#include "dart/common/Console.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/collision/CollisionObject.hpp"
#include "dart/math/Helpers.hpp"

Namespaces

 dart
 
 dart::constraint
 

Macros

#define DART_EPSILON   1e-6
 
#define DART_ERROR_ALLOWANCE   0.0
 
#define DART_ERP   0.01
 
#define DART_MAX_ERV   1e-3
 
#define DART_CFM   1e-5
 
#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
 

Macro Definition Documentation

◆ DART_BOUNCING_VELOCITY_THRESHOLD

#define DART_BOUNCING_VELOCITY_THRESHOLD   1e-1

◆ DART_CFM

#define DART_CFM   1e-5

◆ DART_CONTACT_CONSTRAINT_EPSILON_SQUARED

#define DART_CONTACT_CONSTRAINT_EPSILON_SQUARED   1e-12

◆ DART_EPSILON

#define DART_EPSILON   1e-6

◆ DART_ERP

#define DART_ERP   0.01

◆ DART_ERROR_ALLOWANCE

#define DART_ERROR_ALLOWANCE   0.0

◆ DART_FRICTION_COEFF_THRESHOLD

#define DART_FRICTION_COEFF_THRESHOLD   1e-3

◆ DART_MAX_BOUNCING_VELOCITY

#define DART_MAX_BOUNCING_VELOCITY   1e+2

◆ DART_MAX_ERV

#define DART_MAX_ERV   1e-3

◆ DART_RESTITUTION_COEFF_THRESHOLD

#define DART_RESTITUTION_COEFF_THRESHOLD   1e-3