File contactForce.h

class contactForce : public baseForce

Public Functions

contactForce(const shared_ptr<softRobots> &soft_robots, double col_limit, double delta, double k_scaler, bool friction, double nu, bool self_contact)

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

void broadPhaseCollisionDetection() const

int getNumCollisions() const

double getMinDist() const

Public Members

double contact_stiffness

unique_ptr<collisionDetector> col_detector

Private Functions

void setupContactVariables(const Vector<int, 8> &contact_id)

void prepContactInput()

void prepFrictionInput(double dt)

void computeFriction(double dt)

Private Members

unique_ptr<symbolicEquations> sym_eqs

double K1

double K2

double delta

double k_scaler

bool friction

double mu

double nu

double surface_limit

int idx1

int idx2

int idx3

int idx4

int idx5

int idx6

Vector3d x1s

Vector3d x1e

Vector3d x2s

Vector3d x2e

Vector3d x1s0

Vector3d x1e0

Vector3d x2s0

Vector3d x2e0

ConstraintType constraint_type

FrictionType friction_type

ContactPiecewise contact_type

Vector<double, 8> p2p_input

Vector<double, 11> e2p_input

Vector<double, 14> e2e_input

Vector<double, 6> p2p_gradient

Vector<double, 9> e2p_gradient

Vector<double, 12> e2e_gradient

Matrix<double, 6, 6> p2p_hessian

Matrix<double, 9, 9> e2p_hessian

Matrix<double, 12, 12> e2e_hessian

Vector<double, 39> friction_input

Vector<double, 12> contact_gradient

Vector<double, 12> friction_forces

Matrix<double, 12, 12> contact_hessian

Matrix<double, 12, 12> friction_partials_dfr_dx

Matrix<double, 12, 12> friction_partials_dfr_dfc

Matrix<double, 12, 12> friction_jacobian