Physsim::CollisionMethod Class Reference

Defines an abstract collision method (i.e., a method for handling colliding, not resting, contact). More...

#include <CollisionMethod.h>

Inheritance diagram for Physsim::CollisionMethod:

List of all members.

Public Member Functions
virtual void	process_impacts (const std::list< ContactPtr > &contacts) const=0
	Processes a set of impacting contacts.
virtual bool	is_global_method () const=0
	Indicates whether this is a global method.
Static Public Member Functions
static bool	is_impacting (ContactPtr c)
	Determines whether a contact is impacting.
static bool	is_separating (ContactPtr c)
	Determines whether a contact is separating.
Static Protected Member Functions
static Vector3	calc_collision_point (ContactPtr c)
	Computes the collision point for a contact.
static Matrix3	det_collision_matrix (const Matrix3 &contact_frame_transpose, const Vector3 &contact_point, RigidBodyPtr body1, boost::shared_ptr< RigidBody > body2)
static void	determine_A_b (const std::vector< MeasureData > &ms, MatrixNN &A, VectorN &b)
	Determines matrices A and b for computing impulses globally.
static void	measure_point_vels (const std::vector< MeasureData > &points, VectorN &result)
	Measures point velocities at points.
static void	measure_point_vels (const std::vector< MeasureData > &points, VectorN &result, RigidBodyPtr rb1, RigidBodyPtr rb2)
	Measures point velocities at points.
static void	measure_sep_vels (const std::vector< MeasureData > &points, VectorN &result)
	Measures separation velocities at points.
static void	measure_sep_vels (const std::vector< MeasureData > &points, VectorN &result, RigidBodyPtr rb1, RigidBodyPtr rb2)
	Measures separation velocities at points.

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Detailed Description

Defines an abstract collision method (i.e., a method for handling colliding, not resting, contact).

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Member Function Documentation

virtual void Physsim::CollisionMethod::process_impacts

(

const std::list< ContactPtr > &

contacts

)

const [pure virtual]

Processes a set of impacting contacts.

This method must compute and apply collision impulses to all colliding bodies, either sequentially or simultaneously.

Parameters:

	contacts	a set of contacts, each of which has been determined to be in contact (resting, separating, or impacting)
	a	pointer to the contact simulator

Note:

implementing classes must provide this method

Implemented in Physsim::MirtichRestitutionModel, Physsim::NewtonRestitutionModel, and Physsim::PoissonRestitutionModel.

virtual bool Physsim::CollisionMethod::is_global_method

(

)

const [pure virtual]

Indicates whether this is a global method.

Global methods determine all impulses at once, while local methods treat contacts sequentially. Global methods are called last in a hybrid framework to be able to account for all impulses, including those applied by local methods.

Implemented in Physsim::MirtichRestitutionModel, Physsim::NewtonRestitutionModel, and Physsim::PoissonRestitutionModel.

bool CollisionMethod::is_impacting

(

ContactPtr

c

)

[static]

Determines whether a contact is impacting.

A contact is impacting if the relative normal velocity at any contact point is negative (to floating-point tolerance).

bool CollisionMethod::is_separating

(

ContactPtr

c

)

[static]

Determines whether a contact is separating.

A contact is separating if the relative normal velocity at all contact points is positive.

Vector3 CollisionMethod::calc_collision_point

(

ContactPtr

c

)

[static, protected]

Computes the collision point for a contact.

Todo:

revisit how this method works with non-convex geometries

void CollisionMethod::determine_A_b	(	const std::vector< MeasureData > &	ms,
		MatrixNN &	A,
		VectorN &	b
	)			[static, protected]

Determines matrices A and b for computing impulses globally.

Parameters:

contacts

a list of connected contacts

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

• /home/drumwrig/Physsim/include/Physsim/CollisionMethod.h
• /home/drumwrig/Physsim/src/CollisionMethod.cpp

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