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step/stepcore

StepCore::ConstraintsInfo

StepCore::ConstraintsInfo Struct Reference
[Rigid joints]

#include <world.h>

List of all members.

Detailed Description

Constraints information structure XXX: Move it to constraintsolver.h.

Definition at line 216 of file world.h.


Public Member Functions
int	addContact ()
void	clear ()
void	clearContacts ()
	ConstraintsInfo ()
void	setDimension (int newVariablesCount, int newConstraintsCount)
Public Attributes
GmmArrayVector	acceleration
bool	collisionFlag
int	constraintsCount
int	contactsCount
GmmStdVector	derivative
GmmStdVector	force
GmmStdVector	forceMax
GmmStdVector	forceMin
GmmSparseRowMatrix	inverseMass
GmmSparseRowMatrix	jacobian
GmmSparseRowMatrix	jacobianDerivative
GmmArrayVector	position
GmmStdVector	value
int	variablesCount
GmmArrayVector	velocity

Constructor & Destructor Documentation

StepCore::ConstraintsInfo::ConstraintsInfo ( ) [inline]

Definition at line 240 of file world.h.

Member Function Documentation

int StepCore::ConstraintsInfo::addContact ( )

Increment contactsCount by one, resize all arrays appropriately and return an offset of newly created constraint.

Definition at line 241 of file world.cc.

void StepCore::ConstraintsInfo::clear ( )

Clear the structure.

Definition at line 269 of file world.cc.

void StepCore::ConstraintsInfo::clearContacts ( )

Reset contactsCount to zero and resize all arrays appropriately.

Definition at line 257 of file world.cc.

void StepCore::ConstraintsInfo::setDimension	(	int	newVariablesCount,
		int	newConstraintsCount
	)

Set variablesCount, constraintsCount and reset contactsCount, resize all arrays appropriately.

Definition at line 216 of file world.cc.

Member Data Documentation

GmmArrayVector StepCore::ConstraintsInfo::acceleration

Accelerations of the bodies before applying constraints.

Definition at line 231 of file world.h.

bool StepCore::ConstraintsInfo::collisionFlag

True if there is a collision to be resolved.

Definition at line 238 of file world.h.

int StepCore::ConstraintsInfo::constraintsCount

Number of constraints equations.

Definition at line 219 of file world.h.

int StepCore::ConstraintsInfo::contactsCount

Number of additional constrains equations due to contacts.

Definition at line 220 of file world.h.

GmmStdVector StepCore::ConstraintsInfo::derivative

Time-derivative of constraints values.

Definition at line 224 of file world.h.

GmmStdVector StepCore::ConstraintsInfo::force

Resulting constraints force.

Definition at line 236 of file world.h.

GmmStdVector StepCore::ConstraintsInfo::forceMax

Constraints force upper limit.

Definition at line 234 of file world.h.

GmmStdVector StepCore::ConstraintsInfo::forceMin

Constraints force lower limit.

Definition at line 233 of file world.h.

GmmSparseRowMatrix StepCore::ConstraintsInfo::inverseMass

Inverse mass matrix of the system.

Definition at line 227 of file world.h.

GmmSparseRowMatrix StepCore::ConstraintsInfo::jacobian

Position-derivative of constraints values.

Definition at line 225 of file world.h.

GmmSparseRowMatrix StepCore::ConstraintsInfo::jacobianDerivative

Time-derivative of constraintsJacobian.

Definition at line 226 of file world.h.

GmmArrayVector StepCore::ConstraintsInfo::position

Positions of the bodies.

Definition at line 229 of file world.h.

GmmStdVector StepCore::ConstraintsInfo::value

Current constarints values (amount of brokenness).

Definition at line 223 of file world.h.

int StepCore::ConstraintsInfo::variablesCount

Number of dynamic variables.

Definition at line 218 of file world.h.

GmmArrayVector StepCore::ConstraintsInfo::velocity

Velocities of the bodies.

Definition at line 230 of file world.h.

The documentation for this struct was generated from the following files: