\brief Size of the joints dry friction force vector

\brief Size of the constraints problem.

\brief Size of the bilateral constraints.

\brief Returns the number of contact points after `update` is called.

\brief Size of the weld constraints.

--------------------------------------------------------------------------------------------------- ----- Test one step with different combination of

\brief Size of the joints limit force vector. This corresponds to the size of the currently active joint limit constraint (i.e. the distance between t

\brief Size of vector of frictional point constraints' forces. For example, if only 3D contacts are considered, this should be 3 * nc, where nc is the

Add the right collision pairs of a model, given qref. qref is here as a `T-pose`. The function uses this pose to determine which objects are

\brief Getter for frictional point constraints' forces.

\brief Previous size of the joints limit force vector.

--------------------------------------------------------------------------------------------------- ----- Test moving scene Test if the simuation give

\brief Getter for the `g` term (i.e. the free velocity of constraints + corrective terms).

\brief Get timings of the last call to the `step` method.

\brief Sets the maximum number of contact points per collision pair.

Add the right collision pairs of a model, given qref. qref is here as a `T-pose`. The function uses this pose to determine which objects are

\brief Creates a scene of 10 balls, all lying on a floor. \param reduced_collision_pairs activate only the collision pair between balls and floor.

\brief Size of the previous contact problem.

\brief Size of the previous constraints problem.

Add the right collision pairs of a model, given qref. qref is here as a `T-pose`. The function uses this pose to determine which objects are

\brief Getter for constraints' forces.

\brief Get timings of the call to the constraint solver in the last call of `step`. This timing is set to 0 if there was no constraints.