#include <Contact.h>
Inheritance diagram for Physsim::Contact:
Public Types | |
| enum | ContactPhaseType { eNoContact, eImpacting, eImpactResponse, eRestingStart, eResting } |
| enum | ContactType { eNone, eVertex, eEdge, ePoints, ePolygon, ePolyhedron } |
Public Member Functions | |
| Contact (const Contact &c) | |
| void | operator= (const Contact &c) |
| virtual bool | is_struct_identical (BaseConstPtr object) const |
| Verifies that structure of two contacts is identical. | |
| virtual void | clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const |
| Clones this object. | |
| virtual void | load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) |
| Loads the state of this object. | |
| virtual void | save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const |
| Saves the state of this object. | |
| boost::shared_ptr< std::list< Vector3 > > | get_vertices () const |
| Gets the vertices of contact. | |
| void | set_contact_data (boost::shared_ptr< ContactData > cdata) |
| Sets the contact data. | |
| void | apply_contact_forces () const |
| Applies all contact forces to the two rigid bodies. | |
| boost::shared_ptr< ContactData > | get_contact_data () const |
| Gets the data relevant to this contact. | |
| boost::shared_ptr< std::list< Vector3 > > | generate_samples () const |
| Generates the appropriate number of samples from this contact's geometry. | |
| boost::shared_ptr< std::list< Vector3 > > | generate_samples (unsigned n) const |
| Generates the desired number of samples from this contact's geometry. | |
| SoNode * | to_visualization_data () const |
| Makes a contact visualizable. | |
| void | write_vrml (const std::string &filename) const |
| Writes a contact to the specified filename in VRML format for visualization. | |
Static Public Member Functions | |
| static void | det_connected_contacts (const std::list< ContactPtr > &contacts, std::list< std::list< ContactPtr > > &sets) |
| Given a list of contacts, determines all of the sets of connected contacts. | |
| template<class ForwardIterator> | |
| static boost::shared_ptr< std::list< ContactPtr > > | form_singletons (ForwardIterator first, ForwardIterator last) |
| Forms a list of singleton (vertex) contacts from a set of contacts. | |
Public Attributes | |
| ContactType | _contact_type |
| The contact type (none, vertex, points, edge, polygon, polyhedron). | |
| Real | _d |
| Plane intercept for the separating plane. | |
| Vector3 | _vertex |
| Vertex for a point contact. | |
| std::list< Vector3 > | _points |
| Points for points contact. | |
| std::pair< Vector3, Vector3 > | _edge |
| Edge for an edge contact. | |
| std::list< Vector3 > | _surface |
| Polygon for a surface contact. | |
| PolyhedronPtr | _volume |
| Polyhedron for a volumetric contact. | |
| Vector3 | _normal |
| The vector pointing outward from the contact on the first body (in world coordinates). | |
| Vector3 | _normal_dot |
| The derivative of the contact normal. | |
|
std::list< std::pair< Vector3, Real > > | _normal_forces |
| Points of application (global frame) and the corresponding normal force magnitudes that are applied (or about to be applied) due to this contact. | |
|
std::list< std::pair< Vector3, Vector3 > > | _tangent_forces |
| Points of application (global frame) and the corresponding tangential forces that are applied (or about to be applied) due to this contact. | |
| CollisionGeometryPtr | _geom1 |
| The collision geometries involved in the contact. | |
| CollisionGeometryPtr | _geom2 |
| ContactPhaseType | _phase |
| The contact phase. | |
Multiple (possibly non-coplanar) contact points can be stored; however, the normal is shared by all contact points.
| void Contact::load_state | ( | BaseConstPtr | object, | |
| bimap< BasePtr, BasePtr > * | correspondence = NULL | |||
| ) | [virtual] |
Loads the state of this object.
The underlying penalty resting contact method must have identical structure.
Reimplemented from Physsim::Base.
| void Contact::save_state | ( | BasePtr | object, | |
| bimap< BasePtr, BasePtr > * | correspondence = NULL | |||
| ) | const [virtual] |
Saves the state of this object.
The underlying penalty resting contact method must have identical structure.
Reimplemented from Physsim::Base.
| boost::shared_ptr< std::list< Vector3 > > Contact::get_vertices | ( | ) | const |
Gets the vertices of contact.
Returns all vertices of contact of the contact geometry, irrespective of the geometry type.
| void Contact::det_connected_contacts | ( | const std::list< ContactPtr > & | contacts, | |
| std::list< std::list< ContactPtr > > & | sets | |||
| ) | [static] |
Given a list of contacts, determines all of the sets of connected contacts.
A set of connected contacts is the set of all contacts such that, for a given contact A in the set, there exists another contact B for which A and B share at least one rigid body. This method is useful for reducing the dimensionality of global methods for contact resolution (e.g., LCP methods), because only the subset that is connected need be resolved at any given time.
| contacts | the list of contacts | |
| sets | the sets of connected contacts on return |
| boost::shared_ptr< std::list< Vector3 > > Contact::generate_samples | ( | ) | const |
Generates the appropriate number of samples from this contact's geometry.
Samples are neither discarded nor interpolated; the exact number of samples returned is a function of the contact geometry. For example, eEdge contacts generate two points, while ePolygon / ePolyhedron generate the vertices of the polytope.
| boost::shared_ptr< std::list< Vector3 > > Contact::generate_samples | ( | unsigned | n | ) | const |
Generates the desired number of samples from this contact's geometry.
The samples are generated uniformly (or nearly uniformly) over the surface of the contact geometry.
| SoNode * Contact::to_visualization_data | ( | ) | const |
| void Contact::write_vrml | ( | const std::string & | fname | ) | const |
Writes a contact to the specified filename in VRML format for visualization.
1.5.1