#include <PenaltyRestingContact.h>
Inheritance diagram for Physsim::StaticFrictionInfo:
Public Member Functions | |
| StaticFrictionInfo (CollisionGeometryPtr geom1, CollisionGeometryPtr geom2, const Vector3 &contact_point) | |
| Constructs static friction info from a pair of rigid bodies and a contact point. | |
| Vector3 | calc_contact_point (RigidBodyPtr rb) const |
| Gets the contact point for a rigid body in the global frame. | |
| Vector3 | calc_contact_point (CollisionGeometryPtr geom) const |
| Gets the contact point for a geometry in the global frame. | |
| sorted_pair< CollisionGeometryPtr > | get_geometries () const |
| void | set_geometries (CollisionGeometryPtr geom1, CollisionGeometryPtr geom2, const Vector3 &contact_point) |
| Sets the two geometries and the contact point in this object. | |
| virtual void | load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map) |
| Implements Base::load_from_xml(). | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const |
| Implements Base::save_to_xml(). | |
Friends | |
| class | PenaltyRestingContact |
1.5.1