/usr/include/choreonoid-1.1/cnoid/src/Body/ConstraintForceSolver.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | /** \file
\author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
#define CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
#include "exportdecl.h"
namespace cnoid
{
class Link;
class CFSImpl;
class WorldBase;
class CNOID_EXPORT ConstraintForceSolver
{
CFSImpl* impl;
public:
ConstraintForceSolver(WorldBase& world);
~ConstraintForceSolver();
bool addCollisionCheckLinkPair
(int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double epsilon);
void clearCollisionCheckLinkPairs();
void setGaussSeidelParameters(int maxNumIteration, int numInitialIteration, double maxRelError);
bool enableJointRangeStopper(bool isEnabled);
bool enableVelocityOverwriting(bool isEnabled);
void enableConstraintForceOutput(bool on);
void setNegativeVelocityRatioForPenetration(double ratio);
void initialize(void);
void solve();
void clearExternalForces();
};
};
#endif
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