DART  6.7.3
SoftContactConstraint.hpp
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32 
33 #ifndef DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
35 
37 
38 #include "dart/math/MathTypes.hpp"
40 
41 namespace dart {
42 
43 namespace collision{
44 class SoftCollisionInfo;
45 } // namespace collision
46 
47 namespace dynamics {
48 class BodyNode;
49 class SoftBodyNode;
50 class PointMass;
51 class Skeleton;
52 } // namespace dynamics
53 
54 namespace constraint {
55 
58 {
59 public:
61  SoftContactConstraint(collision::Contact& _contact, double _timeStep);
62 
64  virtual ~SoftContactConstraint();
65 
66  //----------------------------------------------------------------------------
67  // Property settings
68  //----------------------------------------------------------------------------
69 
71  static void setErrorAllowance(double _allowance);
72 
74  static double getErrorAllowance();
75 
77  static void setErrorReductionParameter(double _erp);
78 
80  static double getErrorReductionParameter();
81 
83  static void setMaxErrorReductionVelocity(double _erv);
84 
86  static double getMaxErrorReductionVelocity();
87 
89  static void setConstraintForceMixing(double _cfm);
90 
92  static double getConstraintForceMixing();
93 
95  void setFrictionDirection(const Eigen::Vector3d& _dir);
96 
98  const Eigen::Vector3d& getFrictionDirection1() const;
99 
100  //----------------------------------------------------------------------------
101  // Friendship
102  //----------------------------------------------------------------------------
103 
104  friend class ConstraintSolver;
105  friend class ConstrainedGroup;
106 
107 protected:
108  //----------------------------------------------------------------------------
109  // Constraint virtual functions
110  //----------------------------------------------------------------------------
111 
112  // Documentation inherited
113  void update() override;
114 
115  // Documentation inherited
116  void getInformation(ConstraintInfo* _info) override;
117 
118  // Documentation inherited
119  void applyUnitImpulse(std::size_t _idx) override;
120 
121  // Documentation inherited
122  void getVelocityChange(double* _vel, bool _withCfm) override;
123 
124  // Documentation inherited
125  void excite() override;
126 
127  // Documentation inherited
128  void unexcite() override;
129 
130  // Documentation inherited
131  void applyImpulse(double* _lambda) override;
132 
133  // Documentation inherited
134  dynamics::SkeletonPtr getRootSkeleton() const override;
135 
136  // Documentation inherited
137  void uniteSkeletons() override;
138 
139  // Documentation inherited
140  bool isActive() const override;
141 
142 private:
146  void getRelVelocity(double* _vel);
147 
150 
152  Eigen::MatrixXd getTangentBasisMatrixODE(const Eigen::Vector3d& _n);
153 
157  dynamics::SoftBodyNode* _softBodyNode,
158  const Eigen::Vector3d& _point,
159  int _faceId) const;
160 
165  const dynamics::SoftBodyNode* _softBodyNode,
166  const Eigen::Vector3d& _point,
167  int _faceId) const;
168 
169 private:
171  double mTimeStep;
172 
175 
178 
181 
184 
187 
190 
191  // TODO(JS): For now, there is only one contact per contact constraint
193  std::vector<collision::Contact*> mContacts;
194 
196  collision::SoftCollisionInfo* mSoftCollInfo;
197 
199  Eigen::Vector3d mFirstFrictionalDirection;
200 
203 
206 
209 
212 
214  Eigen::Vector3d mBodyDirection1;
215 
217  Eigen::Vector3d mBodyDirection2;
218 
221 
223  std::size_t mAppliedImpulseIndex;
224 
227 
229  bool mActive;
230 
232  static double mErrorAllowance;
233 
237 
240 
244  static double mConstraintForceMixing;
245 };
246 
247 } // namespace constraint
248 } // namespace dart
249 
250 #endif // DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
251 
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Constraint is a base class of concrete constraints classes.
Definition: ConstraintBase.hpp:75
ConstraintSolver manages constraints and computes constraint impulses.
Definition: ConstraintSolver.hpp:56
SoftContactConstraint represents a contact constraint between two bodies.
Definition: SoftContactConstraint.hpp:58
const Eigen::Vector3d & getFrictionDirection1() const
Get first frictional direction.
Definition: SoftContactConstraint.cpp:402
dynamics::PointMass * selectCollidingPointMass(dynamics::SoftBodyNode *_softBodyNode, const Eigen::Vector3d &_point, int _faceId) const
Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode.
Definition: SoftContactConstraint.cpp:1050
static double getErrorReductionParameter()
Get global error reduction parameter.
Definition: SoftContactConstraint.cpp:342
dynamics::PointMass * mPointMass2
Second point mass.
Definition: SoftContactConstraint.hpp:189
Eigen::Vector3d mBodyDirection2
Contact normal expressed in body frame of the second body node.
Definition: SoftContactConstraint.hpp:217
bool mIsBounceOn
Definition: SoftContactConstraint.hpp:226
dynamics::SoftBodyNode * mSoftBodyNode1
First soft body node.
Definition: SoftContactConstraint.hpp:180
dynamics::SoftBodyNode * mSoftBodyNode2
Second soft body node.
Definition: SoftContactConstraint.hpp:183
dynamics::SkeletonPtr getRootSkeleton() const override
Definition: SoftContactConstraint.cpp:912
std::vector< collision::Contact * > mContacts
Contacts between mBodyNode1 and mBodyNode2.
Definition: SoftContactConstraint.hpp:193
static double getConstraintForceMixing()
Get global constraint force mixing parameter.
Definition: SoftContactConstraint.cpp:389
virtual ~SoftContactConstraint()
Destructor.
Definition: SoftContactConstraint.cpp:296
void uniteSkeletons() override
Definition: SoftContactConstraint.cpp:921
common::aligned_vector< Eigen::Vector6d > mJacobians1
Local body jacobians for mBodyNode1.
Definition: SoftContactConstraint.hpp:208
bool mIsFrictionOn
Definition: SoftContactConstraint.hpp:220
double mFrictionCoeff
Coefficient of Friction.
Definition: SoftContactConstraint.hpp:202
double mTimeStep
Time step.
Definition: SoftContactConstraint.hpp:171
void getInformation(ConstraintInfo *_info) override
Fill LCP variables.
Definition: SoftContactConstraint.cpp:417
dynamics::PointMass * mPointMass1
First point mass.
Definition: SoftContactConstraint.hpp:186
void setFrictionDirection(const Eigen::Vector3d &_dir)
Set first frictional direction.
Definition: SoftContactConstraint.cpp:395
static double mErrorReductionParameter
Global constraint error redection parameter in the range of [0, 1].
Definition: SoftContactConstraint.hpp:236
static double mMaxErrorReductionVelocity
Maximum error reduction velocity.
Definition: SoftContactConstraint.hpp:239
void applyImpulse(double *_lambda) override
Apply computed constraint impulse to constrained skeletons.
Definition: SoftContactConstraint.cpp:728
collision::SoftCollisionInfo * mSoftCollInfo
Soft collision information.
Definition: SoftContactConstraint.hpp:196
void applyUnitImpulse(std::size_t _idx) override
Apply unit impulse to constraint space.
Definition: SoftContactConstraint.cpp:576
void unexcite() override
Unexcite the constraint.
Definition: SoftContactConstraint.cpp:718
void getRelVelocity(double *_vel)
Get change in relative velocity at contact point due to external impulse.
Definition: SoftContactConstraint.cpp:883
common::aligned_vector< Eigen::Vector6d > mJacobians2
Local body jacobians for mBodyNode2.
Definition: SoftContactConstraint.hpp:211
static double getMaxErrorReductionVelocity()
Get global error reduction parameter.
Definition: SoftContactConstraint.cpp:363
static void setErrorReductionParameter(double _erp)
Set global error reduction parameter.
Definition: SoftContactConstraint.cpp:322
dynamics::BodyNode * mBodyNode1
Fircst body node.
Definition: SoftContactConstraint.hpp:174
Eigen::MatrixXd getTangentBasisMatrixODE(const Eigen::Vector3d &_n)
Definition: SoftContactConstraint.cpp:965
void excite() override
Excite the constraint.
Definition: SoftContactConstraint.cpp:708
bool mActive
Definition: SoftContactConstraint.hpp:229
static double getErrorAllowance()
Get global error reduction parameter.
Definition: SoftContactConstraint.cpp:316
Eigen::Vector3d mBodyDirection1
Contact normal expressed in body frame of the first body node.
Definition: SoftContactConstraint.hpp:214
double mRestitutionCoeff
Coefficient of restitution.
Definition: SoftContactConstraint.hpp:205
static void setConstraintForceMixing(double _cfm)
Set global constraint force mixing parameter.
Definition: SoftContactConstraint.cpp:369
void update() override
Update constraint using updated Skeleton's states.
Definition: SoftContactConstraint.cpp:408
dynamics::BodyNode * mBodyNode2
Second body node.
Definition: SoftContactConstraint.hpp:177
std::size_t mAppliedImpulseIndex
Index of applied impulse.
Definition: SoftContactConstraint.hpp:223
static void setMaxErrorReductionVelocity(double _erv)
Set global error reduction parameter.
Definition: SoftContactConstraint.cpp:348
static double mErrorAllowance
Global constraint error allowance.
Definition: SoftContactConstraint.hpp:232
bool isActive() const override
Return true if this constraint is active.
Definition: SoftContactConstraint.cpp:906
static double mConstraintForceMixing
Global constraint force mixing parameter in the range of [1e-9, 1].
Definition: SoftContactConstraint.hpp:244
Eigen::Vector3d mFirstFrictionalDirection
First frictional direction.
Definition: SoftContactConstraint.hpp:199
SoftContactConstraint(collision::Contact &_contact, double _timeStep)
Constructor.
Definition: SoftContactConstraint.cpp:70
static void setErrorAllowance(double _allowance)
Set global error reduction parameter.
Definition: SoftContactConstraint.cpp:301
void getVelocityChange(double *_vel, bool _withCfm) override
Get velocity change due to the uint impulse.
Definition: SoftContactConstraint.cpp:661
void updateFirstFrictionalDirection()
Definition: SoftContactConstraint.cpp:952
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
Definition: PointMass.hpp:51
SoftBodyNode represent a soft body that has one deformable skin.
Definition: SoftBodyNode.hpp:46
std::vector< _Tp, Eigen::aligned_allocator< _Tp > > aligned_vector
Definition: Memory.hpp:66
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:63
Contact information.
Definition: Contact.hpp:45
ConstraintInfo.
Definition: ConstraintBase.hpp:50