CubicBarrier¶

template <typename T = double>
class CubicBarrier : public ipc::BarrierBase<double>;¶

Inheritance diagram for ipc::CubicBarrier:

Collaboration diagram for ipc::CubicBarrier:

Cubic barrier function from [Ando 2024].

Public Functions¶

CubicBarrier() = default;¶

virtual T operator()(const T d, const T dhat) const override;¶

Weak barrier function.

\[ b(d) = -\frac{2}{3\hat{d}} (d - \hat{d})^3 \]

Parameters:¶

const T d¶

The distance.

const T dhat¶

Activation distance of the barrier.

Returns:¶

The value of the barrier function at d.

virtual T first_derivative(const T d, const T dhat) const override;¶

Derivative of the barrier function.

\[ b'(d) = -2 (d - \hat{d})^2 \]

Parameters:¶

const T d¶

The distance.

const T dhat¶

Activation distance of the barrier.

Returns:¶

The derivative of the barrier wrt d.

virtual T second_derivative(const T d, const T dhat) const override;¶

Second derivative of the barrier function.

\[ b''(d) = -4 (d - \hat{d}) \]

Parameters:¶

const T d¶

The distance.

const T dhat¶

Activation distance of the barrier.

Returns:¶

The second derivative of the barrier wrt d.

inline virtual T units(const T dhat) const override;¶

Get the units of the barrier function.

Parameters:¶

const T dhat¶

The activation distance of the barrier.

Returns:¶

The units of the barrier function.