SoftContactConstraint represents a contact constraint between two bodies. More...

#include <SoftContactConstraint.hpp>

Inheritance diagram for dart::constraint::SoftContactConstraint:

Public Member Functions
	SoftContactConstraint (collision::Contact &_contact, double _timeStep)
	Constructor. More...

virtual	~SoftContactConstraint ()
	Destructor. More...

void	setFrictionDirection (const Eigen::Vector3d &_dir)
	Set first frictional direction. More...

const Eigen::Vector3d &	getFrictionDirection1 () const
	Get first frictional direction. More...

std::size_t	getDimension () const
	Return dimesion of this constranit. More...

Static Public Member Functions
static void	setErrorAllowance (double _allowance)
	Set global error reduction parameter. More...

static double	getErrorAllowance ()
	Get global error reduction parameter. More...

static void	setErrorReductionParameter (double _erp)
	Set global error reduction parameter. More...

static double	getErrorReductionParameter ()
	Get global error reduction parameter. More...

static void	setMaxErrorReductionVelocity (double _erv)
	Set global error reduction parameter. More...

static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter. More...

static void	setConstraintForceMixing (double _cfm)
	Set global constraint force mixing parameter. More...

static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter. More...

static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)

static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

Protected Member Functions
void	update () override
	Update constraint using updated Skeleton's states. More...

void	getInformation (ConstraintInfo *_info) override
	Fill LCP variables. More...

void	applyUnitImpulse (std::size_t _idx) override
	Apply unit impulse to constraint space. More...

void	getVelocityChange (double *_vel, bool _withCfm) override
	Get velocity change due to the uint impulse. More...

void	excite () override
	Excite the constraint. More...

void	unexcite () override
	Unexcite the constraint. More...

void	applyImpulse (double *_lambda) override
	Apply computed constraint impulse to constrained skeletons. More...

dynamics::SkeletonPtr	getRootSkeleton () const override

void	uniteSkeletons () override

bool	isActive () const override
	Return true if this constraint is active. More...

Protected Attributes
std::size_t	mDim
	Dimension of constraint. More...

Private Member Functions
void	getRelVelocity (double *_vel)
	Get change in relative velocity at contact point due to external impulse. More...

void	updateFirstFrictionalDirection ()

Eigen::MatrixXd	getTangentBasisMatrixODE (const Eigen::Vector3d &_n)

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. More...

const dynamics::PointMass *	selectCollidingPointMass (const 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. More...

Private Attributes
double	mTimeStep
	Time step. More...

dynamics::BodyNode *	mBodyNode1
	Fircst body node. More...

dynamics::BodyNode *	mBodyNode2
	Second body node. More...

dynamics::SoftBodyNode *	mSoftBodyNode1
	First soft body node. More...

dynamics::SoftBodyNode *	mSoftBodyNode2
	Second soft body node. More...

dynamics::PointMass *	mPointMass1
	First point mass. More...

dynamics::PointMass *	mPointMass2
	Second point mass. More...

std::vector< collision::Contact * >	mContacts
	Contacts between mBodyNode1 and mBodyNode2. More...

collision::SoftCollisionInfo *	mSoftCollInfo
	Soft collision information. More...

Eigen::Vector3d	mFirstFrictionalDirection
	First frictional direction. More...

double	mFrictionCoeff
	Coefficient of Friction. More...

double	mRestitutionCoeff
	Coefficient of restitution. More...

common::aligned_vector< Eigen::Vector6d >	mJacobians1
	Local body jacobians for mBodyNode1. More...

common::aligned_vector< Eigen::Vector6d >	mJacobians2
	Local body jacobians for mBodyNode2. More...

Eigen::Vector3d	mBodyDirection1
	Contact normal expressed in body frame of the first body node. More...

Eigen::Vector3d	mBodyDirection2
	Contact normal expressed in body frame of the second body node. More...

bool	mIsFrictionOn

std::size_t	mAppliedImpulseIndex
	Index of applied impulse. More...

bool	mIsBounceOn

bool	mActive

Static Private Attributes
static double	mErrorAllowance = 0.0
	Global constraint error allowance. More...

static double	mErrorReductionParameter = 0.01
	Global constraint error redection parameter in the range of [0, 1]. More...

static double	mMaxErrorReductionVelocity = 1e+1
	Maximum error reduction velocity. More...

static double	mConstraintForceMixing = 1e-5
	Global constraint force mixing parameter in the range of [1e-9, 1]. More...

Friends
class	ConstraintSolver

class	ConstrainedGroup

Detailed Description

SoftContactConstraint represents a contact constraint between two bodies.

Constructor & Destructor Documentation

◆ SoftContactConstraint()

dart::constraint::SoftContactConstraint::SoftContactConstraint	(	collision::Contact &	_contact,
		double	_timeStep
	)

Constructor.

◆ ~SoftContactConstraint()

dart::constraint::SoftContactConstraint::~SoftContactConstraint ( )

virtual

Destructor.

Member Function Documentation

◆ applyImpulse()

void dart::constraint::SoftContactConstraint::applyImpulse ( double * lambda )

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

◆ applyUnitImpulse()

void dart::constraint::SoftContactConstraint::applyUnitImpulse ( std::size_t index )

overrideprotectedvirtual

Apply unit impulse to constraint space.

Implements dart::constraint::ConstraintBase.

◆ compressPath()

dynamics::SkeletonPtr dart::constraint::ConstraintBase::compressPath ( dynamics::SkeletonPtr skeleton )

staticinherited

◆ excite()

void dart::constraint::SoftContactConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

◆ getConstraintForceMixing()

double dart::constraint::SoftContactConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

◆ getDimension()

std::size_t dart::constraint::ConstraintBase::getDimension ( ) const

inherited

Return dimesion of this constranit.

◆ getErrorAllowance()

double dart::constraint::SoftContactConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

◆ getErrorReductionParameter()

double dart::constraint::SoftContactConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

◆ getFrictionDirection1()

const Eigen::Vector3d & dart::constraint::SoftContactConstraint::getFrictionDirection1 ( ) const

Get first frictional direction.

◆ getInformation()

void dart::constraint::SoftContactConstraint::getInformation ( ConstraintInfo * info )

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

◆ getMaxErrorReductionVelocity()

double dart::constraint::SoftContactConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

◆ getRelVelocity()

void dart::constraint::SoftContactConstraint::getRelVelocity ( double * _vel )

private

Get change in relative velocity at contact point due to external impulse.

Parameters

[out] _vel Change in relative velocity at contact point of the two colliding bodies

◆ getRootSkeleton() [1/2]

dynamics::SkeletonPtr dart::constraint::SoftContactConstraint::getRootSkeleton ( ) const

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [2/2]

dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( dynamics::SkeletonPtr skeleton )

staticinherited

◆ getTangentBasisMatrixODE()

Eigen::MatrixXd dart::constraint::SoftContactConstraint::getTangentBasisMatrixODE ( const Eigen::Vector3d & _n )

private

◆ getVelocityChange()

void dart::constraint::SoftContactConstraint::getVelocityChange	(	double *	vel,
		bool	withCfm
	)

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

◆ isActive()

bool dart::constraint::SoftContactConstraint::isActive ( ) const

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

◆ selectCollidingPointMass() [1/2]

const dynamics::PointMass * dart::constraint::SoftContactConstraint::selectCollidingPointMass	(	const dynamics::SoftBodyNode *	_softBodyNode,
		const Eigen::Vector3d &	_point,
		int	_faceId
	)		const

private

Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode.

Returns a pointer to a const, and is usable with a const SoftBodyNode.

◆ selectCollidingPointMass() [2/2]

dynamics::PointMass * dart::constraint::SoftContactConstraint::selectCollidingPointMass	(	dynamics::SoftBodyNode *	_softBodyNode,
		const Eigen::Vector3d &	_point,
		int	_faceId
	)		const

private

Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode.

◆ setConstraintForceMixing()

void dart::constraint::SoftContactConstraint::setConstraintForceMixing ( double _cfm )

static

Set global constraint force mixing parameter.

◆ setErrorAllowance()

void dart::constraint::SoftContactConstraint::setErrorAllowance ( double _allowance )

static

Set global error reduction parameter.

◆ setErrorReductionParameter()

void dart::constraint::SoftContactConstraint::setErrorReductionParameter ( double _erp )

static

Set global error reduction parameter.

◆ setFrictionDirection()

void dart::constraint::SoftContactConstraint::setFrictionDirection ( const Eigen::Vector3d & _dir )

Set first frictional direction.

◆ setMaxErrorReductionVelocity()

void dart::constraint::SoftContactConstraint::setMaxErrorReductionVelocity ( double _erv )

static

Set global error reduction parameter.

◆ unexcite()

void dart::constraint::SoftContactConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

◆ uniteSkeletons()

void dart::constraint::SoftContactConstraint::uniteSkeletons ( )

overrideprotectedvirtual

Reimplemented from dart::constraint::ConstraintBase.

◆ update()

void dart::constraint::SoftContactConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

◆ updateFirstFrictionalDirection()

void dart::constraint::SoftContactConstraint::updateFirstFrictionalDirection ( )

private

Friends And Related Function Documentation

◆ ConstrainedGroup

friend class ConstrainedGroup

friend

◆ ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

◆ mActive

bool dart::constraint::SoftContactConstraint::mActive

private

◆ mAppliedImpulseIndex

std::size_t dart::constraint::SoftContactConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

◆ mBodyDirection1

Eigen::Vector3d dart::constraint::SoftContactConstraint::mBodyDirection1

private

Contact normal expressed in body frame of the first body node.

◆ mBodyDirection2

Eigen::Vector3d dart::constraint::SoftContactConstraint::mBodyDirection2

private

Contact normal expressed in body frame of the second body node.

◆ mBodyNode1

dynamics::BodyNode* dart::constraint::SoftContactConstraint::mBodyNode1

private

Fircst body node.

◆ mBodyNode2

dynamics::BodyNode* dart::constraint::SoftContactConstraint::mBodyNode2

private

Second body node.

◆ mConstraintForceMixing

double dart::constraint::SoftContactConstraint::mConstraintForceMixing = 1e-5

staticprivate

Global constraint force mixing parameter in the range of [1e-9, 1].

The default is 1e-5

See also: http://www.ode.org/ode-latest-userguide.html#sec_3_8_0

◆ mContacts

std::vector<collision::Contact*> dart::constraint::SoftContactConstraint::mContacts

private

Contacts between mBodyNode1 and mBodyNode2.

◆ mDim

std::size_t dart::constraint::ConstraintBase::mDim

protectedinherited

Dimension of constraint.

◆ mErrorAllowance

double dart::constraint::SoftContactConstraint::mErrorAllowance = 0.0

staticprivate

Global constraint error allowance.

◆ mErrorReductionParameter

double dart::constraint::SoftContactConstraint::mErrorReductionParameter = 0.01

staticprivate

Global constraint error redection parameter in the range of [0, 1].

The default is 0.01.

◆ mFirstFrictionalDirection

Eigen::Vector3d dart::constraint::SoftContactConstraint::mFirstFrictionalDirection

private

First frictional direction.

◆ mFrictionCoeff

double dart::constraint::SoftContactConstraint::mFrictionCoeff

private

Coefficient of Friction.

◆ mIsBounceOn

bool dart::constraint::SoftContactConstraint::mIsBounceOn

private

◆ mIsFrictionOn

bool dart::constraint::SoftContactConstraint::mIsFrictionOn

private

◆ mJacobians1

common::aligned_vector<Eigen::Vector6d> dart::constraint::SoftContactConstraint::mJacobians1

private

Local body jacobians for mBodyNode1.

◆ mJacobians2

common::aligned_vector<Eigen::Vector6d> dart::constraint::SoftContactConstraint::mJacobians2

private

Local body jacobians for mBodyNode2.

◆ mMaxErrorReductionVelocity

double dart::constraint::SoftContactConstraint::mMaxErrorReductionVelocity = 1e+1

staticprivate

Maximum error reduction velocity.

◆ mPointMass1

dynamics::PointMass* dart::constraint::SoftContactConstraint::mPointMass1

private

First point mass.

◆ mPointMass2

dynamics::PointMass* dart::constraint::SoftContactConstraint::mPointMass2

private

Second point mass.

◆ mRestitutionCoeff

double dart::constraint::SoftContactConstraint::mRestitutionCoeff

private

Coefficient of restitution.

◆ mSoftBodyNode1

dynamics::SoftBodyNode* dart::constraint::SoftContactConstraint::mSoftBodyNode1

private

First soft body node.

◆ mSoftBodyNode2

dynamics::SoftBodyNode* dart::constraint::SoftContactConstraint::mSoftBodyNode2

private

Second soft body node.

◆ mSoftCollInfo

collision::SoftCollisionInfo* dart::constraint::SoftContactConstraint::mSoftCollInfo

private

Soft collision information.

◆ mTimeStep

double dart::constraint::SoftContactConstraint::mTimeStep

private

Time step.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SoftContactConstraint()

◆ ~SoftContactConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ excite()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getErrorAllowance()

◆ getErrorReductionParameter()

◆ getFrictionDirection1()

◆ getInformation()

◆ getMaxErrorReductionVelocity()

◆ getRelVelocity()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getTangentBasisMatrixODE()

◆ getVelocityChange()

◆ isActive()

◆ selectCollidingPointMass() [1/2]

◆ selectCollidingPointMass() [2/2]

◆ setConstraintForceMixing()

◆ setErrorAllowance()

◆ setErrorReductionParameter()

◆ setFrictionDirection()

◆ setMaxErrorReductionVelocity()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

◆ updateFirstFrictionalDirection()

Friends And Related Function Documentation

◆ ConstrainedGroup

◆ ConstraintSolver

Member Data Documentation

◆ mActive

◆ mAppliedImpulseIndex

◆ mBodyDirection1

◆ mBodyDirection2

◆ mBodyNode1

◆ mBodyNode2

◆ mConstraintForceMixing

◆ mContacts

◆ mDim

◆ mErrorAllowance

◆ mErrorReductionParameter

◆ mFirstFrictionalDirection

◆ mFrictionCoeff

◆ mIsBounceOn

◆ mIsFrictionOn

◆ mJacobians1

◆ mJacobians2

◆ mMaxErrorReductionVelocity

◆ mPointMass1

◆ mPointMass2

◆ mRestitutionCoeff

◆ mSoftBodyNode1

◆ mSoftBodyNode2

◆ mSoftCollInfo

◆ mTimeStep