Klamp't  0.9.0
Public Member Functions | List of all members
Klampt::FaceContactFeature Struct Reference

A (planar) face contact feature. More...

#include <ContactFeature.h>

Inheritance diagram for Klampt::FaceContactFeature:

Public Member Functions

virtual Type GetType () const
void GetPlane (Plane3D &p) const
 normal is set to be pointing in the outward direction
void GetCentroid (Vector3 &p) const
void GetHold (const Vector3 &x, const Vector3 &n, Real theta, Hold &) const
 Makes the hold that matches cp[0] to x. More...
void GetHold (const Vector3 &localPos, const Vector3 &x, const Vector3 &n, Real theta, Hold &) const
 Same as above, but matches localPos to x.

Additional Inherited Members

- Public Types inherited from Klampt::ContactFeatureBase
enum  Type {
  Point, Edge, Face, MultipleFaces,
- Public Attributes inherited from Klampt::ContactFeatureBase
int link
string name
Real weight
 weight for picking this feature

Detailed Description

A (planar) face contact feature.

Polygon is assumed to be planar and counter-clockwise oriented around the normal direction (e.g. if the face faces up, the vertices are CCW looking downward)

Member Function Documentation

void Klampt::FaceContactFeature::GetHold ( const Vector3 &  x,
const Vector3 &  n,
Real  theta,
) const

Makes the hold that matches cp[0] to x.

First orients the feature's plane to match up against the normal n. Then, rotates the feature by angle theta around the normal.

Normals are set to n, friction is set to 0.

The documentation for this struct was generated from the following file: