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| template<class T > |
| static void | bwdInit (BilateralLagrangianConstraint< T > &self) |
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| template<class T > |
| static void | getConstraintResolution (BilateralLagrangianConstraint< T > &self, const ConstraintParams *cParams, std::vector< ConstraintResolution * > &resTab, unsigned int &offset) |
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| template<class T > |
| static void | buildConstraintMatrix (BilateralLagrangianConstraint< T > &self, const ConstraintParams *cParams, DataMatrixDeriv_t< T > &c1_d, DataMatrixDeriv_t< T > &c2_d, unsigned int &constraintId, const DataVecCoord_t< T > &, const DataVecCoord_t< T > &) |
| |
| template<class T > |
| static void | getConstraintViolation (BilateralLagrangianConstraint< T > &self, const ConstraintParams *, BaseVector *v, const typename BilateralLagrangianConstraint< T >::DataVecCoord &d_x1, const typename BilateralLagrangianConstraint< T >::DataVecCoord &d_x2, const typename BilateralLagrangianConstraint< T >::DataVecDeriv &, const typename BilateralLagrangianConstraint< T >::DataVecDeriv &) |
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| template<class T , typename MyClass = BilateralLagrangianConstraint<T>> |
| static void | addContact (BilateralLagrangianConstraint< T > &self, typename MyClass::Deriv, typename MyClass::Coord P, typename MyClass::Coord Q, typename MyClass::Real, int m1, int m2, typename MyClass::Coord, typename MyClass::Coord, long, typename MyClass::PersistentID) |
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