raisim::PinConstraint
class · #include <raisim/constraints/PinConstraint.hpp>
Internal: a resolved point constraint between two bodies of one articulated system. A pin keeps the two anchors coincident; an equality constraint keeps them coincident along its axes only.
Constructors & destructor
PinConstraint
cpp
PinConstraint(
size_t localIdx1,
Vec<3> pos1_b,
size_t localIdx2,
Vec<3> pos2_b)Parameters
| Parameter | Description |
|---|---|
localIdx1 (in) | body index of body1 |
pos1_b (in) | anchor in body1's frame |
localIdx2 (in) | body index of body2 |
pos2_b (in) | anchor in body2's frame |
~PinConstraint
cpp
virtual ~PinConstraint() = defaultPublic attributes
pos1_b
cpp
Vec<3> pos1_bAnchor position in body1 frame.
pos2_b
cpp
Vec<3> pos2_bAnchor position in body2 frame.
pos1_w
cpp
Vec<3> pos1_wAnchor position in world frame for body1.
pos2_w
cpp
Vec<3> pos2_wAnchor position in world frame for body2.
localIdx1
cpp
size_t localIdx1Local body index for body1.
localIdx2
cpp
size_t localIdx2Local body index for body2.
contactA
cpp
size_t contactAContact indices of the anchors on body1 and body2 in this step (size_t(-1) if the body is static).
contactB
cpp
size_t contactBproblem
cpp
size_t problemIndex of this pin's row in the world's contact problems in this step.
axisCount
cpp
size_t axisCountConstrained directions in body1's frame, the first axisCount columns; 0 means a pin (all three world axes).
axes_b
cpp
Mat<3, 3> axes_b