SDContactPair Class Reference

#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

Detailed Description

Definition at line 23 of file sdcontact.h.

Constructor & Destructor Documentation

SDContactPair()

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::~SDContactPair ( )

inline

Definition at line 42 of file sdcontact.h.

Member Function Documentation

AddPoint()

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

inline

Definition at line 74 of file sdcontact.h.

Clear()

void SDContactPair::Clear ( )

inline

Definition at line 68 of file sdcontact.h.

Coord()

const fVec3& SDContactPair::Coord ( int  index )

inline

Definition at line 83 of file sdcontact.h.

Depth()

double SDContactPair::Depth ( int  index )

inline

Definition at line 89 of file sdcontact.h.

GetJoint()

Joint* SDContactPair::GetJoint ( int  index )

inline

Definition at line 64 of file sdcontact.h.

Normal()

const fVec3& SDContactPair::Normal ( int  index )

inline

Definition at line 86 of file sdcontact.h.

NumPoints()

int SDContactPair::NumPoints ( )

inline

Definition at line 80 of file sdcontact.h.

set_init()

int SDContactPair::set_init ( )

protected

Definition at line 42 of file sdcontact.cpp.

SetDamper()

void SDContactPair::SetDamper ( double  _damper )

inline

Definition at line 48 of file sdcontact.h.

SetSlipFric()

void SDContactPair::SetSlipFric ( double  _slip_fric )

inline

Definition at line 54 of file sdcontact.h.

SetSpring()

void SDContactPair::SetSpring ( double  _spring )

inline

Definition at line 45 of file sdcontact.h.

SetStaticFric()

void SDContactPair::SetStaticFric ( double  _static_fric )

inline

Definition at line 51 of file sdcontact.h.

SlipFric()

double SDContactPair::SlipFric ( )

inline

Definition at line 60 of file sdcontact.h.

StaticFric()

double SDContactPair::StaticFric ( )

inline

Definition at line 57 of file sdcontact.h.

Update()

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

Definition at line 22 of file sdcontact.cpp.

update()

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

protected

Definition at line 62 of file sdcontact.cpp.

Member Data Documentation

coords

std::vector<fVec3> SDContactPair::coords

protected

Definition at line 103 of file sdcontact.h.

damper

double SDContactPair::damper

protected

Definition at line 109 of file sdcontact.h.

depths

std::vector<double> SDContactPair::depths

protected

Definition at line 105 of file sdcontact.h.

in_slip

int SDContactPair::in_slip

protected

Definition at line 121 of file sdcontact.h.

init_att

fMat33 SDContactPair::init_att

protected

Definition at line 119 of file sdcontact.h.

init_pos

fVec3 SDContactPair::init_pos

protected

Definition at line 118 of file sdcontact.h.

init_set

int SDContactPair::init_set

protected

Definition at line 117 of file sdcontact.h.

joints

Joint* SDContactPair::joints[2]

protected

Definition at line 101 of file sdcontact.h.

normals

std::vector<fVec3> SDContactPair::normals

protected

Definition at line 104 of file sdcontact.h.

slip_d

double SDContactPair::slip_d

protected

Definition at line 114 of file sdcontact.h.

slip_fric

double SDContactPair::slip_fric

protected

Definition at line 112 of file sdcontact.h.

slip_func_coef_base

double SDContactPair::slip_func_coef_base

protected

Definition at line 115 of file sdcontact.h.

slip_p

double SDContactPair::slip_p

protected

Definition at line 113 of file sdcontact.h.

spring

double SDContactPair::spring

protected

Definition at line 108 of file sdcontact.h.

static_fric

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