CollisionPlane< T > Class Template Reference

#include <CollisionPlane.h>

Inheritance diagram for CollisionPlane< T >:

Collaboration diagram for CollisionPlane< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionPlane (const T &mu, const T &restitution, const T &height)
virtual	~CollisionPlane ()
virtual bool	ContactDetection (const Vec3< T > &cp_pos, T &penetration, Mat3< T > &cp_frame)
Public Member Functions inherited from Collision< T >
	Collision (const T &mu, const T &resti)
virtual	~Collision ()
const T &	getFrictionCoeff ()
const T &	getRestitutionCoeff ()

Private Attributes
T	_height

Additional Inherited Members
Protected Attributes inherited from Collision< T >
T	_mu
T	_restitution_coeff

Detailed Description

template<typename T>
class CollisionPlane< T >

Class to represent infinite collision planes (like a flat ground).

Definition at line 18 of file CollisionPlane.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionPlane< T >::CollisionPlane ( const T &  mu, const T &  restitution, const T &  height  )

inline

Construct a new collision plane

Parameters

location	: coordinate transformation to collision plane (collision surface is the xy-plane)
nContactPoints	: number of contact points this collision plane will need to handle.
mu	: coefficient of friction
restitution	: rebounding ratio (v+/v-)
height	: height of this plane

Definition at line 32 of file CollisionPlane.h.

      : Collision<T>(mu, restitution), _height(height) {}

template<typename T>

virtual CollisionPlane< T >::~CollisionPlane ( )

inlinevirtual

Definition at line 35 of file CollisionPlane.h.

References CollisionPlane< T >::ContactDetection().

{}

Here is the call graph for this function:

Member Function Documentation

template<typename T >

bool CollisionPlane< T >::ContactDetection ( const Vec3< T > &  cp_pos, T &  penetration, Mat3< T > &  cp_frame  )

virtual

check whether the contact happens or not cp_frame let you know which direction is normal (z) and which directions are x and y w.r.t global frame. In the case of plane collition, the cp_frame is always an identity matrix.

Implements Collision< T >.

Definition at line 10 of file CollisionPlane.cpp.

                                                            {
  if (cp_pos[2] < _height) {
    penetration = cp_pos[2] - _height;
    cp_frame.setIdentity();
    return true;
  } else {
    return false;
  }
}

Here is the caller graph for this function:

Member Data Documentation

template<typename T>

T CollisionPlane< T >::_height

private

Definition at line 41 of file CollisionPlane.h.

---

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

• CollisionPlane.h
• CollisionPlane.cpp