#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	(	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.

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.

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.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation