![]() |
RobWorkProject
23.9.11-
|
The ContactModel describe how impulses between two bodies are calculated and added to the bodies. The contact model is supposed to be used for iterative solving impulses between two bodies. More...
#include <ContactModel.hpp>
Public Member Functions | |
ContactModel (ConstraintNode &bodyA, ConstraintNode &bodyB, ContactModelFactory *factory) | |
default constructor | |
virtual | ~ContactModel () |
default destructor | |
virtual void | preImpulseCalc (Contact &contact, rwsim::dynamics::ContactPoint &point, double dtInv) |
this call will be made prior to any other calls in a timestep. It is meant to be a function that caches aux variables that can be used when calling add*Impulses multiple times. | |
virtual void | calcCollisionImpulse (Contact &contact, rwsim::dynamics::ContactPoint &point, double &nimpulse, double &timpulse, int iter) |
calculates collision impulse for contactpoint point and sets the result in nimpulse, timpulse. | |
virtual void | calcContactImpulse (Contact &contact, rwsim::dynamics::ContactPoint &point, double &nimpulse, double &timpulse) |
calculates contact impulse for contactpoint point and sets the result in nimpulse, timpulse. | |
virtual void | addImpulse (Contact &contact, rwsim::dynamics::ContactPoint &point, double nimpulse, double timpulse) |
adds the impulse given by nimpulse and timpulse to contactpoint point | |
virtual void | updateVelocity (Contact &contact) |
virtual void | calcContactForce (Contact &contact, rwsim::dynamics::ContactPoint &point, double &nforce, double &tforce) |
calculates contact impulse for contactpoint point and sets the result in nimpulse, timpulse. | |
virtual void | addForce (Contact &contact, rwsim::dynamics::ContactPoint &point, double nforce, double tforce) |
adds the impulse given by nimpulse and timpulse to contactpoint point | |
RWBody * | toRWBody (dynamics::Body *body) |
The ContactModel describe how impulses between two bodies are calculated and added to the bodies. The contact model is supposed to be used for iterative solving impulses between two bodies.