Public Member Functions | Private Attributes | List of all members
SurgSim::Physics::ContactConstraintData Class Reference

Class for Frictionless contact (only needs a plane equation) More...

#include <SurgSim/Physics/ContactConstraintData.h>

Inheritance diagram for SurgSim::Physics::ContactConstraintData:
SurgSim::Physics::ConstraintData

Public Member Functions

 ContactConstraintData ()
 Default constructor. More...
 
virtual ~ContactConstraintData ()
 Destructor. More...
 
void setPlaneEquation (const SurgSim::Math::Vector3d &n, double d)
 Sets the plane equation of the frictionless contact. More...
 
const SurgSim::Math::Vector3dgetNormal () const
 Gets the plane normal vector. More...
 
double getDistance () const
 Gets the plane distance to the origin. More...
 
double getContactTime () const
 Gets the time of contact for the collision. More...
 
std::shared_ptr< Collision::ContactgetContact ()
 
void setContact (const std::shared_ptr< Collision::Contact > &contacts)
 
- Public Member Functions inherited from SurgSim::Physics::ConstraintData
 ConstraintData ()
 Default Constructor. More...
 
virtual ~ConstraintData ()
 Destructor. More...
 

Private Attributes

SurgSim::Math::Vector3d m_normal
 Plane equation normal vector (normalized vector) More...
 
double m_distance
 Plane equation distance to origin. More...
 
std::shared_ptr< Collision::Contactm_contact
 The contact that uses this constraint data. More...
 

Detailed Description

Class for Frictionless contact (only needs a plane equation)

Constructor & Destructor Documentation

§ ContactConstraintData()

SurgSim::Physics::ContactConstraintData::ContactConstraintData ( )
inline

Default constructor.

§ ~ContactConstraintData()

virtual SurgSim::Physics::ContactConstraintData::~ContactConstraintData ( )
inlinevirtual

Destructor.

Member Function Documentation

§ getContact()

std::shared_ptr<Collision::Contact> SurgSim::Physics::ContactConstraintData::getContact ( )
inline
Returns
The contact that uses this constraint data.

§ getContactTime()

double SurgSim::Physics::ContactConstraintData::getContactTime ( ) const
inline

Gets the time of contact for the collision.

Returns
The time of contact for the collision

§ getDistance()

double SurgSim::Physics::ContactConstraintData::getDistance ( ) const
inline

Gets the plane distance to the origin.

Returns
The plane equation's distance to the origin

§ getNormal()

const SurgSim::Math::Vector3d& SurgSim::Physics::ContactConstraintData::getNormal ( ) const
inline

Gets the plane normal vector.

Returns
The plane equation's normal vector (normalized vector)

§ setContact()

void SurgSim::Physics::ContactConstraintData::setContact ( const std::shared_ptr< Collision::Contact > &  contacts)
inline
Parameters
contactsThe contacts that use this constraint data.

§ setPlaneEquation()

void SurgSim::Physics::ContactConstraintData::setPlaneEquation ( const SurgSim::Math::Vector3d n,
double  d 
)
inline

Sets the plane equation of the frictionless contact.

Parameters
nThe plane normal (normalized vector)
dThe plane distance to the origin
Note
The plane is defined by { P | n.P + d = 0 }

Member Data Documentation

§ m_contact

std::shared_ptr<Collision::Contact> SurgSim::Physics::ContactConstraintData::m_contact
private

The contact that uses this constraint data.

§ m_distance

double SurgSim::Physics::ContactConstraintData::m_distance
private

Plane equation distance to origin.

§ m_normal

SurgSim::Math::Vector3d SurgSim::Physics::ContactConstraintData::m_normal
private

Plane equation normal vector (normalized vector)


The documentation for this class was generated from the following file: