#include <sdcontact.h>
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 |
Definition at line 23 of file sdcontact.h.
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.
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.
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.