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:

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::Vector3d &	getNormal () 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::Contact >	getContact ()
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::Contact >	m_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

contacts

The 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

n	The plane normal (normalized vector)
d	The 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:

• SurgSim/Physics/ContactConstraintData.h