Moby::ImpactConstraintHandler Class Reference

Defines the mechanism for handling impact constraints. More...

#include <ImpactConstraintHandler.h>

Public Member Functions
	ImpactConstraintHandler ()
	Sets up the default parameters for the impact event handler.
void	process_constraints (const std::vector< UnilateralConstraint > &constraints)

Static Public Member Functions
static boost::shared_ptr < Ravelin::DynamicBodyd >	get_super_body (boost::shared_ptr< Ravelin::SingleBodyd > sb)
	Gets the super body (articulated if any)

Public Attributes
bool	use_ip_solver
	If set to true, uses the interior-point solver (default is false)
unsigned	ip_max_iterations
	The maximum number of iterations to use for the interior-point solver.
double	ip_eps
	The tolerance for to the interior-point solver (default 1e-6)

Friends
class	ConstraintSimulator
class	ConstraintStabilization

Detailed Description

Defines the mechanism for handling impact constraints.

Member Function Documentation

void ImpactConstraintHandler::process_constraints

(

const std::vector< UnilateralConstraint > &

constraints

)

Parameters

constraints

the vector of constraints

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The documentation for this class was generated from the following files:

• /home/drum/Moby/include/Moby/ImpactConstraintHandler.h
• /home/drum/Moby/src/ImpactConstraintHandler.cpp
• /home/drum/Moby/src/ImpactConstraintHandlerLCP.cpp
• /home/drum/Moby/src/ImpactConstraintHandlerNQP.cpp
• /home/drum/Moby/src/ImpactConstraintHandlerQP.cpp