#include <ContactConstraint.h>

Inheritance diagram for ContactConstraint< T >:

Collaboration diagram for ContactConstraint< T >:

Public Member Functions
	ContactConstraint (FloatingBaseModel< T > *model)

virtual	~ContactConstraint ()

void	AddCollision (Collision< T > *collision)

virtual void	UpdateExternalForces (T K, T D, T dt)=0

virtual void	UpdateQdot (FBModelState< T > &state)=0

const vectorAligned< Vec3< T > > &	getContactPosList ()

const Vec3< T > &	getGCForce (size_t idx)

Protected Member Functions
void	_groundContactWithOffset (T K, T D)

size_t	_CheckContact ()

Protected Attributes
vectorAligned< Vec2< T > >	deflectionRate

vectorAligned< Vec2< T > >	_tangentialDeflections

size_t	_nContact

size_t	_nCollision

FloatingBaseModel< T > *	_model

std::vector< Collision< T > * >	_collision_list

std::vector< size_t >	_idx_list

std::vector< T >	_cp_resti_list

std::vector< T >	_cp_mu_list

std::vector< T >	_cp_penetration_list

vectorAligned< Vec3< T > >	_cp_force_list

vectorAligned< Vec3< T > >	_cp_local_force_list

vectorAligned< Vec3< T > >	_cp_pos_list

vectorAligned< Mat3< T > >	_cp_frame_list

Detailed Description

template<typename T>
class ContactConstraint< T >

Definition at line 20 of file ContactConstraint.h.

Constructor & Destructor Documentation

template<typename T>

ContactConstraint< T >::ContactConstraint ( FloatingBaseModel< T > * model )

inline

Definition at line 22 of file ContactConstraint.h.

       : _nContact(0), _nCollision(0) {
     _model = model;
     for (size_t i(0); i < _model->_nGroundContact; ++i) {
       _cp_force_list.push_back(Vec3<T>::Zero());
     }
   }

template<typename T>

virtual ContactConstraint< T >::~ContactConstraint ( )

inlinevirtual

Definition at line 30 of file ContactConstraint.h.

30 {}

Member Function Documentation

template<typename T >

size_t ContactConstraint< T >::_CheckContact ( )

protected

Definition at line 8 of file ContactConstraint.cpp.

                                            {
   _cp_pos_list.clear();
   _cp_local_force_list.clear();
   _cp_penetration_list.clear();
 
   _cp_frame_list.clear();
   _cp_resti_list.clear();
   _cp_mu_list.clear();
   _idx_list.clear();
 
   Vec3<T> tmp_vec;
   Mat3<T> cp_frame;
 
   T penetration;
   for (size_t i(0); i < _model->_nGroundContact; ++i) {
     _cp_force_list[i].setZero();
     for (size_t j(0); j < _nCollision; ++j) {
       if (_collision_list[j]->ContactDetection(_model->_pGC[i], penetration,
                                                cp_frame)) {
         // Contact Happens
         _cp_pos_list.push_back(_model->_pGC[i]);
         _cp_local_force_list.push_back(Vec3<T>::Zero());
         _cp_frame_list.push_back(cp_frame);
         _cp_penetration_list.push_back(penetration);
 
         _idx_list.push_back(i);
 
         _cp_resti_list.push_back(_collision_list[j]->getRestitutionCoeff());
         _cp_mu_list.push_back(_collision_list[j]->getFrictionCoeff());
       }
     }
   }
   return _cp_pos_list.size();
 }

template<typename T>

void ContactConstraint< T >::_groundContactWithOffset	(	T	K,
		T	D
	)

protected

template<typename T>

void ContactConstraint< T >::AddCollision ( Collision< T > * collision )

inline

Add collision object

Parameters

collision : collision objects

Definition at line 36 of file ContactConstraint.h.

                                              {
     _collision_list.push_back(collision);
     ++_nCollision;
   }

template<typename T>

const vectorAligned<Vec3<T> >& ContactConstraint< T >::getContactPosList ( )

inline

For visualization

Returns: cp_pos_list : all contact point position in the global frame.

Definition at line 60 of file ContactConstraint.h.

60 { return _cp_pos_list; }

ContactConstraint::_cp_pos_list

vectorAligned< Vec3< T > > _cp_pos_list

Definition: ContactConstraint.h:90

template<typename T>

const Vec3<T>& ContactConstraint< T >::getGCForce ( size_t idx )

inline

For visualization

Returns: cp_force_list : all linear contact force described in the global frame.

Definition at line 67 of file ContactConstraint.h.

67 { return _cp_force_list[idx]; }

ContactConstraint::_cp_force_list

vectorAligned< Vec3< T > > _cp_force_list

Definition: ContactConstraint.h:88

template<typename T>

virtual void ContactConstraint< T >::UpdateExternalForces	(	T	K,
		T	D,
		T	dt
	)

pure virtual

Used for spring damper based contact constraint method

Parameters

K	: Spring constant
D	: Damping constant
dt	: time step (sec)

Implemented in ContactSpringDamper< T >, and ContactImpulse< T >.

Here is the caller graph for this function:

template<typename T>

virtual void ContactConstraint< T >::UpdateQdot ( FBModelState< T > & state )

pure virtual

Used for impulse based contact constraint method

Parameters

state : full state of a floating system full state

Returns: state : update velocity

Implemented in ContactImpulse< T >, and ContactSpringDamper< T >.

Here is the caller graph for this function:

Member Data Documentation

template<typename T>

std::vector<Collision<T>*> ContactConstraint< T >::_collision_list

protected

Definition at line 82 of file ContactConstraint.h.

template<typename T>

vectorAligned<Vec3<T> > ContactConstraint< T >::_cp_force_list

protected

Definition at line 88 of file ContactConstraint.h.

template<typename T>

vectorAligned<Mat3<T> > ContactConstraint< T >::_cp_frame_list

protected

Definition at line 91 of file ContactConstraint.h.

template<typename T>

vectorAligned<Vec3<T> > ContactConstraint< T >::_cp_local_force_list

protected

Definition at line 89 of file ContactConstraint.h.

template<typename T>

std::vector<T> ContactConstraint< T >::_cp_mu_list

protected

Definition at line 85 of file ContactConstraint.h.

template<typename T>

std::vector<T> ContactConstraint< T >::_cp_penetration_list

protected

Definition at line 87 of file ContactConstraint.h.

template<typename T>

vectorAligned<Vec3<T> > ContactConstraint< T >::_cp_pos_list

protected

Definition at line 90 of file ContactConstraint.h.

template<typename T>

std::vector<T> ContactConstraint< T >::_cp_resti_list

protected

Definition at line 84 of file ContactConstraint.h.

template<typename T>

std::vector<size_t> ContactConstraint< T >::_idx_list

protected

Definition at line 83 of file ContactConstraint.h.

template<typename T>

FloatingBaseModel<T>* ContactConstraint< T >::_model

protected

Definition at line 80 of file ContactConstraint.h.

template<typename T>

size_t ContactConstraint< T >::_nCollision

protected

Definition at line 78 of file ContactConstraint.h.

template<typename T>

size_t ContactConstraint< T >::_nContact

protected

Definition at line 77 of file ContactConstraint.h.

template<typename T>

vectorAligned<Vec2<T> > ContactConstraint< T >::_tangentialDeflections

protected

Definition at line 75 of file ContactConstraint.h.

template<typename T>

vectorAligned<Vec2<T> > ContactConstraint< T >::deflectionRate

protected

Definition at line 70 of file ContactConstraint.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T> class ContactConstraint< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class ContactConstraint< T >