/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/contactSetting.h File Reference

A number of global functions that are used by the GraspIt world to set up new contacts between bodies. We should find a home for them inside a class at some point. More...

#include "collisionStructures.h"

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Functions
void	addContacts (Body *body1, Body *body2, ContactReport &contactSet, bool softContactsOn=false)
	Adds a new pair of contacts between two bodies.
void	addVirtualContacts (Body *body1, int f, int l, Body *body2, ContactReport &contactSet, bool softContactsOn)
	Adds a virtual contact on a body pointing at another body.

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Detailed Description

A number of global functions that are used by the GraspIt world to set up new contacts between bodies. We should find a home for them inside a class at some point.

Definition in file contactSetting.h.

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Function Documentation

void addContacts	(	Body *	body1,
		Body *	body2,
		ContactReport &	contactSet,
		bool	softContactsOn
	)

Adds a new pair of contacts between two bodies.

Takes pointers to the two bodies in contact, and the set of contacts returned from the collision detection system, and adds a contact to each body for each contact in the set.

Definition at line 189 of file contactSetting.cpp.

void addVirtualContacts	(	Body *	body1,
		int	f,
		int	l,
		Body *	body2,
		ContactReport &	contactSet,
		bool	softContactsOn
	)

Adds a virtual contact on a body pointing at another body.

Adds a virtual contact on the body body1, which is assumed to be the l-th link on the f-th finger of a robot. Works by first creating a traditional contact, then converting it to a virtual contact.

The whole VirtualContact scheme is in bad need of an overhaul.

Definition at line 268 of file contactSetting.cpp.