Collision< T > Class Template Reference

#include <Collision.h>

Inheritance diagram for Collision< T >:

Collaboration diagram for Collision< T >:

Public Member Functions
	Collision (const T &mu, const T &resti)
virtual	~Collision ()
virtual bool	ContactDetection (const Vec3< T > &cp_pos, T &penetration, Mat3< T > &cp_frame)=0
const T &	getFrictionCoeff ()
const T &	getRestitutionCoeff ()

Protected Attributes
T	_mu
T	_restitution_coeff

Detailed Description

template<typename T>
class Collision< T >

Abstract Collision Class

Definition at line 17 of file Collision.h.

Constructor & Destructor Documentation

template<typename T>

Collision< T >::Collision ( const T &  mu, const T &  resti  )

inline

Construct a new collision

Parameters

mu	: coefficient of friction
resti	: coefficient of restitution (v_rebound / v_impact)

Definition at line 24 of file Collision.h.

: _mu(mu), _restitution_coeff(resti) {}

template<typename T>

virtual Collision< T >::~Collision ( )

inlinevirtual

Definition at line 25 of file Collision.h.

References Collision< T >::ContactDetection().

{}

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Member Function Documentation

template<typename T>

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

pure virtual

virtual function for contact detection

Parameters

cp_pos

: contact point in the global frame

Returns

penetration : Size of the penetration to normal direction to the collision object

cp_frame : Local frame that has normal axis (z) perpendicular the contact surface

Implemented in CollisionBox< T >, CollisionMesh< T >, and CollisionPlane< T >.

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template<typename T>

const T& Collision< T >::getFrictionCoeff ( )

inline

Definition at line 38 of file Collision.h.

References Collision< T >::_mu.

{ return _mu; }

template<typename T>

const T& Collision< T >::getRestitutionCoeff ( )

inline

Definition at line 39 of file Collision.h.

References Collision< T >::_restitution_coeff.

{ return _restitution_coeff; }

Member Data Documentation

template<typename T>

T Collision< T >::_mu

protected

Definition at line 42 of file Collision.h.

template<typename T>

T Collision< T >::_restitution_coeff

protected

Definition at line 42 of file Collision.h.

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

• Collision.h