KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
CustomContactPoint2D Struct Reference

#include <Contact.h>

Public Member Functions

 CustomContactPoint2D (const ContactPoint2D &cp)
 
void set (const ContactPoint2D &cp)
 Copies from a ContactPoint.
 
void setRobustnessFactor (Real offset)
 Offsets the friction cone by the given offset.
 
void addNormalForceBounds (Real minimum, Real maximum)
 Bounds the minimum / maximum normal force.
 
void calculateForceMatrix ()
 Re-calculates the force matrix from the values of x, n, kFriction.
 
void calculateWrenchMatrix ()
 
int numForceVariables () const
 
int numConstraints () const
 Returns the number of constraints.
 

Public Attributes

Vector2 x
 
Vector2 n
 
Real kFriction
 
Matrix forceMatrix
 
Vector forceOffset
 
Matrix wrenchMatrix
 
Vector wrenchOffset
 

Detailed Description

/ .

Custom constraints are in the form A*f <= b for forces or A*w <= b for wrenches.

Member Function Documentation

void CustomContactPoint2D::calculateWrenchMatrix ( )

Re-calculates the wrench matrix from the values of x, n, kFriction OR the force matrix if it exists

int CustomContactPoint2D::numForceVariables ( ) const

Returns the number of force degrees of freedom: 1 means frictionless, 2 means frictional contact, 3 means wrench


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