Physsim::RestingContactMethod Class Reference

Defines an abstract method for handling resting (i.e., non-impacting contact). More...

#include <RestingContactMethod.h>

Inheritance diagram for Physsim::RestingContactMethod:

List of all members.

Public Member Functions
virtual bool	is_global_method () const=0
	Indicates whether this is a global method.
virtual void	process_resting_contacts (const std::list< ContactPtr > &contacts)=0
	Processes a set of resting contacts.
Static Public Member Functions
static void	determine_A_b (const std::vector< MeasureData > &ms, MatrixNN &A, VectorN &b)
	Determines matrices A and b for computing normal forces w/LCP method.
static void	measure_point_accels (const std::vector< MeasureData > &points, VectorN &result)
	Measures point accelerations at points.
static void	measure_point_accels (const std::vector< MeasureData > &points, VectorN &result, RigidBodyPtr rb1, RigidBodyPtr rb2)
	Measures point accelerations at points.
static void	measure_sep_accels (const std::vector< MeasureData > &points, VectorN &result)
	Measures separation accelerations at points.
static void	measure_sep_accels (const std::vector< MeasureData > &points, VectorN &result, RigidBodyPtr rb1, RigidBodyPtr rb2)
	Measures separation accelerations at points.

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Detailed Description

Defines an abstract method for handling resting (i.e., non-impacting contact).

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Member Function Documentation

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

Determines matrices A and b for computing normal forces w/LCP method.

Todo:

remove cloning -- shouldn't be necessary

Parameters:

contacts

a list of connected contacts

virtual bool Physsim::RestingContactMethod::is_global_method

(

)

const [pure virtual]

Indicates whether this is a global method.

Global methods (e.g., LCP-based methods) determine all resting contact forces at once, while local methods determine contact forces one point at a time. Global methods are called last in a hybrid framework to be able to account for all forces, including those applied by local methods.

Implemented in Physsim::LCPRestingContact, and Physsim::PenaltyRestingContact.

virtual void Physsim::RestingContactMethod::process_resting_contacts

(

const std::list< ContactPtr > &

contacts

)

[pure virtual]

Processes a set of resting contacts.

This method must compute and apply forces to all bodies in resting contact, either sequentially or simultaneously.

Parameters:

	contacts	a set of contacts, each of which has been determined to be in resting contact
	a	pointer to the contact simulator

Note:

implementing classes must provide this method

Implemented in Physsim::LCPRestingContact, and Physsim::PenaltyRestingContact.

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

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

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