Simbody
3.5
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TODO: PLUS (Poisson-Lankarani-Uchida-Sherman) impulse solver. More...
Public Member Functions | |
PLUSImpulseSolver (Real roll2slipTransitionSpeed) | |
bool | solve (int phase, const Array_< MultiplierIndex > &participating, const Matrix &A, const Vector &D, const Array_< MultiplierIndex > &expanding, Vector &piExpand, Vector &verrStart, Vector &verrApplied, Vector &pi, Array_< UncondRT > &unconditional, Array_< UniContactRT > &uniContact, Array_< UniSpeedRT > &uniSpeed, Array_< BoundedRT > &bounded, Array_< ConstraintLtdFrictionRT > &consLtdFriction, Array_< StateLtdFrictionRT > &stateLtdFriction) const override |
Solve with conditional constraints. | |
bool | solveBilateral (const Array_< MultiplierIndex > &participating, const Matrix &A, const Vector &D, const Vector &rhs, Vector &pi) const override |
Solve with only unconditional constraints. | |
SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE (PLUSImpulseSolver, ActiveIndex) |
TODO: PLUS (Poisson-Lankarani-Uchida-Sherman) impulse solver.
SimTK::PLUSImpulseSolver::PLUSImpulseSolver | ( | Real | roll2slipTransitionSpeed | ) | [inline, explicit] |
bool SimTK::PLUSImpulseSolver::solve | ( | int | phase, |
const Array_< MultiplierIndex > & | participating, | ||
const Matrix & | A, | ||
const Vector & | D, | ||
const Array_< MultiplierIndex > & | expanding, | ||
Vector & | piExpand, | ||
Vector & | verrStart, | ||
Vector & | verrApplied, | ||
Vector & | pi, | ||
Array_< UncondRT > & | unconditional, | ||
Array_< UniContactRT > & | uniContact, | ||
Array_< UniSpeedRT > & | uniSpeed, | ||
Array_< BoundedRT > & | bounded, | ||
Array_< ConstraintLtdFrictionRT > & | consLtdFriction, | ||
Array_< StateLtdFrictionRT > & | stateLtdFriction | ||
) | const [override, virtual] |
Solve with conditional constraints.
Implements SimTK::ImpulseSolver.
bool SimTK::PLUSImpulseSolver::solveBilateral | ( | const Array_< MultiplierIndex > & | participating, |
const Matrix & | A, | ||
const Vector & | D, | ||
const Vector & | rhs, | ||
Vector & | pi | ||
) | const [override, virtual] |
Solve with only unconditional constraints.
Implements SimTK::ImpulseSolver.