5 #ifndef CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
6 #define CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
24 bool addCollisionCheckLinkPair
25 (
int bodyIndex1,
Link* link1,
int bodyIndex2,
Link* link2,
double muStatic,
double muDynamic,
double culling_thresh,
double epsilon);
26 void clearCollisionCheckLinkPairs();
28 void setGaussSeidelParameters(
int maxNumIteration,
int numInitialIteration,
double maxRelError);
29 bool enableJointRangeStopper(
bool isEnabled);
30 bool enableVelocityOverwriting(
bool isEnabled);
31 void enableConstraintForceOutput(
bool on);
32 void setNegativeVelocityRatioForPenetration(
double ratio);
36 void clearExternalForces();
Definition: ConstraintForceSolver.h:16
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13