#include "dart/constraint/ContactConstraint.hpp"
#include <iostream>
#include "dart/external/odelcpsolver/lcp.h"
#include "dart/collision/CollisionObject.hpp"
#include "dart/common/Console.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/Skeleton.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

Namespaces

Macros