raisim::contact::rank

namespace

Values of Single3DContactProblem::rank: the kind of constraint a problem row represents.

Functions

isEliminatedConstraint

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr bool isEliminatedConstraint(int rank)

Returns whether a row of this rank is resolved outside the solver iterations (eliminated before the solve, or solved by its object after it) instead of iterated.

Variables

ILLDEFINED_CONTACT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int ILLDEFINED_CONTACT

Badly conditioned contact (normal direction has near-infinite apparent inertia).

RANK1_CONTACT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int RANK1_CONTACT

Contact with only the normal direction solvable (both tangents degenerate).

RANK2_CONTACT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int RANK2_CONTACT

Contact with the normal and one tangent direction solvable.

RANK3_CONTACT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int RANK3_CONTACT

Regular, full-rank 3D contact.

STIFF_LENGTH_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int STIFF_LENGTH_CONSTRAINT

Stiff length constraint.

JOINT_LIMITS

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int JOINT_LIMITS

Articulated-system joint limit.

COMPLIANT_LENGTH_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int COMPLIANT_LENGTH_CONSTRAINT

Compliant length constraint.

RANK1_PIN_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int RANK1_PIN_CONSTRAINT

Pin constraint with one solvable direction.

RANK2_PIN_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int RANK2_PIN_CONSTRAINT

Pin constraint with two solvable directions.

RANK3_PIN_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int RANK3_PIN_CONSTRAINT

Full-rank pin constraint.

PROJECTED_PIN_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int PROJECTED_PIN_CONSTRAINT

Pin constraint of an articulated system. The system eliminates it exactly before the solve (its impulse responses cannot violate the pin), so the solver does not iterate on it; imp_i reports the pin impulse on body1 in the world frame after the step.

PROJECTED_MIMIC_CONSTRAINT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int PROJECTED_MIMIC_CONSTRAINT

Mimic (joint coupling) constraint of an articulated system, eliminated like PROJECTED_PIN_CONSTRAINT; imp_i[0] reports the generalized impulse on the follower joint after the step (the leader receives -multiplier times it).

OBJECT_SOLVED_CONTACT

#include <raisim/contact/BisectionContactSolver.hpp>

constexpr int OBJECT_SOLVED_CONTACT

Contact between a deformable particle and a non-deformable object. The deformable object solves it in its own substep loop after the world solve (applying the reaction to the other object), so the solver does not iterate on it; imp_i reports the impulse on the particle after the step.