\brief Getter for bilateral constraints' forces.

\brief Getter for constraints' velocities. note: this should be mutltiplied by dt to retrieve the actual constraints' velocities.

\brief Getter for the the warm-start which uses the constraints' velocities and constraint-inverse dynamics.

\brief Getter for the time scaling factors to convert acceleration units to the units of each constraint.

\brief Getter for frictional point constraints' velocities. note: this should be mutltiplied by dt to retrieve the actual velocities.

\brief Getter for the the warm-start which uses the frictional point constraints' velocities and contact-inverse dynamics.

\brief Get timings of the collision detection stage.

\brief Returns a handle to the constraint problem

\brief Returns the maximum number of contact points this `ConstraintsProblem` can handle. This number determines the allocated memory of the `Constrai

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

\brief Return the number of bilateral constraints.

\brief Return the number of joint friction constraints.

\brief Return the number of joint limit constraint.

\brief Return the number of weld constraints.

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

\brief Returns true if the simulator is in its reset state.

\brief Getter for friction forces on the joints.

\brief Getter for forces from the limits on the joints.

\brief Maximum size of the joints limit force vector.

Default constructor

Initialize lambda and the recursion

Operator that handles boost::blank case

\brief Other reference vector to compute the rotation part of a placement.

\brief Preambule function meant to be run before resolving collisions.

\brief Getter for the preconditioner

\brief Getter for bilateral constraints' forces.

\brief Getter for constraints' forces at the previous time step.

\brief Getter for frictional point constraints' forces at the previous time step.

\brief Getter for previous friction forces on the joints.

\brief Getter for forces from the previous limits on the joints.

\brief Getter for previous weld constraints' forces.

\brief Reference vector to compute the rotation part of a placement. If the normal is colinear to this reference vector, `e_ref2` is used instead.

\brief Getter for the time scaling factors to convert acceleration units to the units of each constraint.

\brief Getter for weld constraints' forces.

\brief Virtual destructor of the base class