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/*
This file is a part of BetterContactPlugin.
Author: Shin'ichiro Nakaoka
Author: Ryo Kikuuwe
Copyright (c) 2007-2015 Shin'ichiro Nakaoka
Copyright (c) 2014-2015 Ryo Kikuuwe
Copyright (c) 2007-2015 National Institute of Advanced Industrial
Science and Technology (AIST)
Copyright (c) 2014-2015 Kyushu University
BetterContactPlugin is a plugin for better simulation of frictional contacts.
BetterContactPlugin is a free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
BetterContactPlugin is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with BetterContactPlugin; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Contact: Ryo Kikuuwe, kikuuwe@ieee.org
*/
/*************************************************
ORIGINAL FILE: src/Body/ConstraintForceSolver.h
**************************************************/
#ifndef CNOID_BCCONSTRAINT_FORCE_SOLVER_H
#define CNOID_BCCONSTRAINT_FORCE_SOLVER_H
#include <cnoid/CollisionSeq>
//#include "exportdecl.h"
namespace cnoid
{
class Link;
class BCCFSImpl;
class WorldBase;
class CollisionDetector;
typedef boost::shared_ptr<CollisionDetector> CollisionDetectorPtr;
class CNOID_EXPORT BCConstraintForceSolver
{
BCCFSImpl* impl;
public:
BCConstraintForceSolver(WorldBase& world);
~BCConstraintForceSolver();
void setCollisionDetector(CollisionDetectorPtr detector);
CollisionDetectorPtr collisionDetector();
void setFriction(double staticFriction, double slipFliction);
double staticFriction() const;
double slipFriction() const;
void setContactCullingDistance(double thresh);
double contactCullingDistance() const;
void setContactCullingDepth(double depth);
double contactCullingDepth();
void setCoefficientOfRestitution(double epsilon);
double coefficientOfRestitution() const;
void setGaussSeidelErrorCriterion(double e);
double gaussSeidelErrorCriterion();
void setGaussSeidelMaxNumIterations(int n);
int gaussSeidelMaxNumIterations();
void setContactDepthCorrection(double depth, double velocityRatio);
double contactCorrectionDepth();
double contactCorrectionVelocityRatio();
void set2Dmode(bool on);
void enableConstraintForceOutput(bool on);
void initialize(void);
void solve();
void clearExternalForces();
CollisionLinkPairListPtr getCollisions();
#ifdef ENABLE_SIMULATION_PROFILING
double getCollisionTime();
#endif
double penaltyKpCoef();
double penaltyKvCoef();
double penaltySizeRatio();
int solverID();
void setPenaltyKpCoef(double aKpCoef);
void setPenaltyKvCoef(double aKvCoef);
void setPenaltySizeRatio(double aSizeRatio);
void setSolverID (int arg);
};
};
#endif
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