公開メンバ関数
	ConstraintForceSolver (WorldBase &world)

	~ConstraintForceSolver ()

bool	addCollisionCheckLinkPair (int bodyIndex1, Link link1, int bodyIndex2, Link link2, double muStatic, double muDynamic, double culling_thresh, double epsilon)

void	clearCollisionCheckLinkPairs ()

void	setGaussSeidelParameters (int maxNumIteration, int numInitialIteration, double maxRelError)

bool	enableJointRangeStopper (bool isEnabled)

bool	enableVelocityOverwriting (bool isEnabled)

void	enableConstraintForceOutput (bool on)

void	setNegativeVelocityRatioForPenetration (double ratio)

void	initialize (void)

void	solve ()

void	clearExternalForces ()

構築子と解体子

ConstraintForceSolver::ConstraintForceSolver ( WorldBase & world )

ConstraintForceSolver::~ConstraintForceSolver ( )

関数詳解

bool ConstraintForceSolver::addCollisionCheckLinkPair	(	int	bodyIndex1,
		Link *	link1,
		int	bodyIndex2,
		Link *	link2,
		double	muStatic,
		double	muDynamic,
		double	culling_thresh,
		double	epsilon
	)

void ConstraintForceSolver::clearCollisionCheckLinkPairs ( )

void ConstraintForceSolver::clearExternalForces ( )

void ConstraintForceSolver::enableConstraintForceOutput ( bool on )

bool cnoid::ConstraintForceSolver::enableJointRangeStopper ( bool isEnabled )

bool cnoid::ConstraintForceSolver::enableVelocityOverwriting ( bool isEnabled )

void ConstraintForceSolver::initialize ( void )

void ConstraintForceSolver::setGaussSeidelParameters	(	int	maxNumIteration,
		int	numInitialIteration,
		double	maxRelError
	)

void ConstraintForceSolver::setNegativeVelocityRatioForPenetration ( double ratio )

void ConstraintForceSolver::solve ( )

このクラス詳解は次のファイルから抽出されました: