ContactInfo Class Reference

#include <ContactInfo.h>

List of all members.

Public Member Functions

ContactInfo (PhysicalObject *object, int sigma)
ContactInfo (PhysicalObject *object, int sigma, const Vector2 &p, const Vector2 &n, int iSensor=-1)
ContactInfo (PhysicalObject *object, int sigma, const Vector2 &p, const Vector2 &n, int iSensor, int iSensor2)
virtual ~ContactInfo ()

Public Attributes

Private Member Functions

void setupObject ()

Constructor & Destructor Documentation

ContactInfo::ContactInfo ( PhysicalObject * object,

int sigma

)

Constructs a torque contact.
Definition at line 5 of file ContactInfo.cpp.
References contactTypeTorque, and parentObject.

ContactInfo::ContactInfo ( PhysicalObject * object,

int sigma,

const Vector2 & p,

const Vector2 & n,

int iSensor = -1

)

Constructs a force contact. Initializes information, and also adds the contact to the object (or its parent, if exists - for composed objects)
Definition at line 13 of file ContactInfo.cpp.
References contactTypeForce, and setupObject().

ContactInfo::ContactInfo ( PhysicalObject * object,

int sigma,

const Vector2 & p,

const Vector2 & n,

int iSensor,

int iSensor2

)

Constructs a force contact for parallel contact of capsules.
Definition at line 26 of file ContactInfo.cpp.
References contactTypeForceParallel, and setupObject().

ContactInfo::~ContactInfo ( ) [virtual]

Definition at line 59 of file ContactInfo.cpp.

Member Function Documentation

void ContactInfo::setupObject ( ) [private]

Definition at line 40 of file ContactInfo.cpp.
References PhysicalObject::addContact(), object, p, PhysicalObject::parent, parentObject, pxn, and PhysicalObject::r.
Referenced by ContactInfo().

Member Data Documentation

int ContactInfo::alpha

The index of this contact in the global contact vector.
Definition at line 68 of file ContactInfo.h.
Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), PhysicalObject::fillContactMatrix(), ArticulatedAgentBase::fillContactMatrix(), and ArticulatedAgentQuasistatic::forwardAccelerations().

real ContactInfo::force

The modulus of the contact force.
Definition at line 65 of file ContactInfo.h.
Referenced by PhysicalObject::computeDerivatives(), PhysicalObject::drawContactForces(), Circle::setSensor(), and CappedRectangle::setSensor().

int ContactInfo::iSensor

The index of the tactile sensor, or of the ends of a range of tactile sensors (for parallel contact of capsules) affected by the contact, if any.
Definition at line 55 of file ContactInfo.h.
Referenced by Circle::setSensor(), CappedRectangle::setSensor(), and ComposedPhysicalObject::setSensors().

int ContactInfo::iSensor2

The index of the tactile sensor, or of the ends of a range of tactile sensors (for parallel contact of capsules) affected by the contact, if any.
Definition at line 55 of file ContactInfo.h.
Referenced by CappedRectangle::setSensor().

Vector2 ContactInfo::n

The direction of the contact force (the normal to the contact plane), in the laboratory reference system.
Definition at line 48 of file ContactInfo.h.
Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), PhysicalObject::computeDerivatives(), PhysicalObject::drawContactForces(), PhysicalObject::fillContactMatrix(), ArticulatedAgentBase::fillContactMatrix(), and ArticulatedAgentQuasistatic::forwardAccelerations().

PhysicalObject* ContactInfo::object

The object to which the contact belongs.
Definition at line 62 of file ContactInfo.h.
Referenced by ComposedPhysicalObject::setSensors(), and setupObject().

Vector2 ContactInfo::p

The position of the contact point relative to the object, in the laboratory reference system.
Definition at line 45 of file ContactInfo.h.
Referenced by PhysicalObject::drawContactForces(), PhysicalObject::fillContactMatrix(), ArticulatedAgentBase::fillContactMatrix(), ArticulatedAgentQuasistatic::forwardAccelerations(), and setupObject().

PhysicalObject* ContactInfo::parentObject

The object that processes the contact (for objects that are part of a composed object, the composed object processes the contact).
Definition at line 59 of file ContactInfo.h.
Referenced by ContactInfo(), and setupObject().

real ContactInfo::pxn

The cross product p x n (having only a component on the z axis).
Definition at line 50 of file ContactInfo.h.
Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), PhysicalObject::computeDerivatives(), PhysicalObject::fillContactMatrix(), and setupObject().

int ContactInfo::sigma

The sign of the participation of this object to the contact
Definition at line 37 of file ContactInfo.h.
Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), PhysicalObject::computeDerivatives(), PhysicalObject::drawContactForces(), PhysicalObject::fillContactMatrix(), ArticulatedAgentBase::fillContactMatrix(), and ArticulatedAgentQuasistatic::forwardAccelerations().

ContactType ContactInfo::type

The type of the contact: force or torque.
Definition at line 40 of file ContactInfo.h.
Referenced by CappedRectangle::setSensor().

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

Thyrix homepage • Users' guide