StepCore::ConstraintsInfo Struct Reference

#include <world.h>

Public Member Functions
	ConstraintsInfo ()
void	clear ()
void	setDimension (int newVariablesCount, int newConstraintsCount, int newContactsCount=0)

Public Attributes
MappedVector	acceleration
bool	collisionFlag
int	constraintsCount
int	contactsCount
VectorXd	derivative
VectorXd	force
VectorXd	forceMax
VectorXd	forceMin
VectorXd	inverseMass
DynSparseRowMatrix	jacobian
DynSparseRowMatrix	jacobianDerivative
MappedVector	position
VectorXd	value
int	variablesCount
MappedVector	velocity

Detailed Description

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

Definition at line 216 of file world.h.

Constructor & Destructor Documentation

StepCore::ConstraintsInfo::ConstraintsInfo ( )

inline

Definition at line 240 of file world.h.

Member Function Documentation

void StepCore::ConstraintsInfo::clear

(

)

Clear the structure.

Definition at line 242 of file world.cc.

void StepCore::ConstraintsInfo::setDimension	(	int	newVariablesCount,
		int	newConstraintsCount,
		int	newContactsCount = 0
	)

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

Definition at line 216 of file world.cc.

Member Data Documentation

MappedVector 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.

VectorXd StepCore::ConstraintsInfo::derivative

Time-derivative of constraints values.

Definition at line 224 of file world.h.

VectorXd StepCore::ConstraintsInfo::force

Resulting constraints force.

Definition at line 236 of file world.h.

VectorXd StepCore::ConstraintsInfo::forceMax

Constraints force upper limit.

Definition at line 234 of file world.h.

VectorXd StepCore::ConstraintsInfo::forceMin

Constraints force lower limit.

Definition at line 233 of file world.h.

VectorXd StepCore::ConstraintsInfo::inverseMass

Diagonal coefficients of the inverse mass matrix of the system.

Definition at line 227 of file world.h.

DynSparseRowMatrix StepCore::ConstraintsInfo::jacobian

Position-derivative of constraints values.

Definition at line 225 of file world.h.

DynSparseRowMatrix StepCore::ConstraintsInfo::jacobianDerivative

Time-derivative of constraintsJacobian.

Definition at line 226 of file world.h.

MappedVector StepCore::ConstraintsInfo::position

Positions of the bodies.

Definition at line 229 of file world.h.

VectorXd 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.

MappedVector StepCore::ConstraintsInfo::velocity

Velocities of the bodies.

Definition at line 230 of file world.h.

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

• world.h
• world.cc