SDContactPair Class Reference

#include <sdcontact.h>

List of all members.

Public Member Functions
void	AddPoint (double *coord, double *normal, double depth)
void	Clear ()
const fVec3 &	Coord (int index)
double	Depth (int index)
Joint *	GetJoint (int index)
const fVec3 &	Normal (int index)
int	NumPoints ()
	SDContactPair (Joint *_jnt1, Joint *_jnt2, double _spring=1e5, double _damper=10.0, double _static_fric=0.0, double _slip_fric=0.0, double _slip_p=2000.0, double _slip_d=700.0, double _slip_func_coef_base=0.1)
void	SetDamper (double _damper)
void	SetSlipFric (double _slip_fric)
void	SetSpring (double _spring)
void	SetStaticFric (double _static_fric)
double	SlipFric ()
double	StaticFric ()
int	Update (double timestep, int n_contact, double **coords, double **normals, double *depths)
	~SDContactPair ()
Protected Member Functions
int	set_init ()
int	update (double timestep, int n_contact, double *coord, double *normal, double depth)
Protected Attributes
std::vector< fVec3 >	coords
double	damper
std::vector< double >	depths
int	in_slip
fMat33	init_att
fVec3	init_pos
int	init_set
Joint *	joints [2]
std::vector< fVec3 >	normals
double	slip_d
double	slip_fric
double	slip_func_coef_base
double	slip_p
double	spring
double	static_fric

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Detailed Description

Definition at line 23 of file sdcontact.h.

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Constructor & Destructor Documentation

SDContactPair::SDContactPair	(	Joint *	_jnt1,
		Joint *	_jnt2,
		double	_spring = 1e5,
		double	_damper = 10.0,
		double	_static_fric = 0.0,
		double	_slip_fric = 0.0,
		double	_slip_p = 2000.0,
		double	_slip_d = 700.0,
		double	_slip_func_coef_base = 0.1
	)		[inline]

Definition at line 26 of file sdcontact.h.

SDContactPair::~SDContactPair

(

)

[inline]

Definition at line 42 of file sdcontact.h.

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Member Function Documentation

void SDContactPair::AddPoint	(	double *	coord,
		double *	normal,
		double	depth
	)		[inline]

Definition at line 74 of file sdcontact.h.

void SDContactPair::Clear

(

)

[inline]

Definition at line 68 of file sdcontact.h.

const fVec3& SDContactPair::Coord

(

int

index

)

[inline]

Definition at line 83 of file sdcontact.h.

double SDContactPair::Depth

(

int

index

)

[inline]

Definition at line 89 of file sdcontact.h.

Joint* SDContactPair::GetJoint

(

int

index

)

[inline]

Definition at line 64 of file sdcontact.h.

const fVec3& SDContactPair::Normal

(

int

index

)

[inline]

Definition at line 86 of file sdcontact.h.

int SDContactPair::NumPoints

(

)

[inline]

Definition at line 80 of file sdcontact.h.

int SDContactPair::set_init

(

)

[protected]

Definition at line 42 of file sdcontact.cpp.

void SDContactPair::SetDamper

(

double

_damper

)

[inline]

Definition at line 48 of file sdcontact.h.

void SDContactPair::SetSlipFric

(

double

_slip_fric

)

[inline]

Definition at line 54 of file sdcontact.h.

void SDContactPair::SetSpring

(

double

_spring

)

[inline]

Definition at line 45 of file sdcontact.h.

void SDContactPair::SetStaticFric

(

double

_static_fric

)

[inline]

Definition at line 51 of file sdcontact.h.

double SDContactPair::SlipFric

(

)

[inline]

Definition at line 60 of file sdcontact.h.

double SDContactPair::StaticFric

(

)

[inline]

Definition at line 57 of file sdcontact.h.

int SDContactPair::Update	(	double	timestep,
		int	n_contact,
		double **	coords,
		double **	normals,
		double *	depths
	)

Definition at line 22 of file sdcontact.cpp.

int SDContactPair::update	(	double	timestep,
		int	n_contact,
		double *	coord,
		double *	normal,
		double	depth
	)		[protected]

Definition at line 62 of file sdcontact.cpp.

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Member Data Documentation

std::vector<fVec3> SDContactPair::coords [protected]

Definition at line 103 of file sdcontact.h.

double SDContactPair::damper [protected]

Definition at line 109 of file sdcontact.h.

std::vector<double> SDContactPair::depths [protected]

Definition at line 105 of file sdcontact.h.

int SDContactPair::in_slip [protected]

Definition at line 121 of file sdcontact.h.

fMat33 SDContactPair::init_att [protected]

Definition at line 119 of file sdcontact.h.

fVec3 SDContactPair::init_pos [protected]

Definition at line 118 of file sdcontact.h.

int SDContactPair::init_set [protected]

Definition at line 117 of file sdcontact.h.

Joint* SDContactPair::joints[2] [protected]

Definition at line 101 of file sdcontact.h.

std::vector<fVec3> SDContactPair::normals [protected]

Definition at line 104 of file sdcontact.h.

double SDContactPair::slip_d [protected]

Definition at line 114 of file sdcontact.h.

double SDContactPair::slip_fric [protected]

Definition at line 112 of file sdcontact.h.

double SDContactPair::slip_func_coef_base [protected]

Definition at line 115 of file sdcontact.h.

double SDContactPair::slip_p [protected]

Definition at line 113 of file sdcontact.h.

double SDContactPair::spring [protected]

Definition at line 108 of file sdcontact.h.

double SDContactPair::static_fric [protected]

Definition at line 111 of file sdcontact.h.

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

• sdcontact.h
• sdcontact.cpp