OpenTissue::mbd::ContactPoint< types > Class Template Reference

#include <mbd_contact_point.h>

List of all members.

Public Types
typedef types::math_policy	math_policy
typedef math_policy::size_type	size_type
typedef math_policy::real_type	real_type
typedef math_policy::value_traits	value_traits
typedef math_policy::vector3_type	vector3_type
typedef math_policy::matrix3x3_type	matrix3x3_type
typedef math_policy::quaternion_type	quaternion_type
typedef math_policy::vector_type	vector_type
typedef math_policy::vector_range	vector_range
typedef math_policy::idx_vector_range	idx_vector_range
typedef math_policy::matrix_range	matrix_range
typedef types::body_type	body_type
typedef types::material_type	material_type
Public Member Functions
	ContactPoint ()
virtual	~ContactPoint ()
void	set_use_friction (bool value)
void	set_use_bounce (bool value)
void	set_use_stabilization (bool value)
void	init (body_type *bodyA, body_type *bodyB, vector3_type const &p, vector3_type const &n, real_type const &distance, material_type *material)
void	evaluate ()
size_type	get_number_of_jacobian_rows () const
void	get_linear_jacobian_A (matrix_range &J) const
void	get_linear_jacobian_B (matrix_range &J) const
void	get_angular_jacobian_A (matrix_range &J) const
void	get_angular_jacobian_B (matrix_range &J) const
void	get_stabilization_term (vector_range &b_error) const
void	get_low_limits (vector_range &lo) const
void	get_high_limits (vector_range &hi) const
void	get_dependency_indices (idx_vector_range &dep) const
void	get_dependency_factors (vector_range &factors) const
void	set_regularization (vector_range const &gamma)
void	get_regularization (vector_range &gamma) const
void	set_solution (vector_range const &solution)
void	get_solution (vector_range &solution) const
void	set_error_reduction_parameter (real_type const &erp)
real_type	get_error_reduction_parameter () const
Public Attributes
bool	m_use_stabilization
	Boolean value indicating whether stabilization should be ignored in the error terms.
bool	m_use_friction
	Boolean value indicating whether firctional constaints should be ignored.
bool	m_use_bounce
	Boolean value indicating whether newtons collision law should included in the error terms..
material_type *	m_material
	The material properties, such as coefficient of friction.
vector3_type	m_n
	The contact normal in WCS. Always pointing from A towards B (i.e. from lower index to higher index).
vector3_type	m_p
	The contact point in WCS.
real_type	m_distance
	Separation (or penetration, if negative) distance.
vector3_type	m_rA
	The vector from center of mass of body A to the point of contact (in WCS).
vector3_type	m_rB
	The vector from center of mass of body B to the point of contact (in WCS).
real_type	m_un
	The relative contact velocity in the normal direction.
size_type	m_eta
	Number of friction direction used.
std::vector< vector3_type >	m_t
	Temporary Storage used for keeping the friction directions.
bool	m_bodies_flipped
vector_type	m_solution
	Local solution vector, ie. vector of lagrange multipliers.

template<typename types>
class OpenTissue::mbd::ContactPoint< types >

---

Member Typedef Documentation

template<typename types >

typedef types::body_type OpenTissue::mbd::ContactPoint< types >::body_type

template<typename types >

typedef math_policy::idx_vector_range OpenTissue::mbd::ContactPoint< types >::idx_vector_range

template<typename types >

typedef types::material_type OpenTissue::mbd::ContactPoint< types >::material_type

template<typename types >

typedef types::math_policy OpenTissue::mbd::ContactPoint< types >::math_policy

template<typename types >

typedef math_policy::matrix3x3_type OpenTissue::mbd::ContactPoint< types >::matrix3x3_type

template<typename types >

typedef math_policy::matrix_range OpenTissue::mbd::ContactPoint< types >::matrix_range

template<typename types >

typedef math_policy::quaternion_type OpenTissue::mbd::ContactPoint< types >::quaternion_type

template<typename types >

typedef math_policy::real_type OpenTissue::mbd::ContactPoint< types >::real_type

template<typename types >

typedef math_policy::size_type OpenTissue::mbd::ContactPoint< types >::size_type

template<typename types >

typedef math_policy::value_traits OpenTissue::mbd::ContactPoint< types >::value_traits

template<typename types >

typedef math_policy::vector3_type OpenTissue::mbd::ContactPoint< types >::vector3_type

template<typename types >

typedef math_policy::vector_range OpenTissue::mbd::ContactPoint< types >::vector_range

template<typename types >

typedef math_policy::vector_type OpenTissue::mbd::ContactPoint< types >::vector_type

---

Constructor & Destructor Documentation

template<typename types >

OpenTissue::mbd::ContactPoint< types >::ContactPoint

(

)

[inline]

template<typename types >

virtual OpenTissue::mbd::ContactPoint< types >::~ContactPoint

(

)

[inline, virtual]

---

Member Function Documentation

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::evaluate

(

)

[inline]

See also:

ConstraintInterface.evaluate()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_angular_jacobian_A

(

matrix_range &

J

)

const [inline]

See also:

ConstraintInterface.get_angular_jacobian_A()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_angular_jacobian_B

(

matrix_range &

J

)

const [inline]

See also:

ConstraintInterface.get_angular_jacobian_B()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_dependency_factors

(

vector_range &

factors

)

const [inline]

See also:

ConstraintInterface.getDepencyFactors()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_dependency_indices

(

idx_vector_range &

dep

)

const [inline]

See also:

ConstraintInterface.getDependencyIndices()

template<typename types >

real_type OpenTissue::mbd::ContactPoint< types >::get_error_reduction_parameter

(

)

const [inline]

See also:

ConstraintInterface.get_error_reduction_parameter()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_high_limits

(

vector_range &

hi

)

const [inline]

See also:

ConstraintInterface.get_high_limits()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_linear_jacobian_A

(

matrix_range &

J

)

const [inline]

See also:

ConstraintInterface.get_linear_jacobian_A()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_linear_jacobian_B

(

matrix_range &

J

)

const [inline]

See also:

ConstraintInterface.get_linear_jacobian_B()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_low_limits

(

vector_range &

lo

)

const [inline]

See also:

ConstraintInterface.get_low_limits()

template<typename types >

size_type OpenTissue::mbd::ContactPoint< types >::get_number_of_jacobian_rows

(

)

const [inline]

See also:

ConstraintInterface.get_number_of_jacobian_rows()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_regularization

(

vector_range &

gamma

)

const [inline]

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_solution

(

vector_range &

solution

)

const [inline]

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::get_stabilization_term

(

vector_range &

b_error

)

const [inline]

See also:

ConstraintInterface.get_stabilization_term()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::init	(	body_type *	bodyA,
		body_type *	bodyB,
		vector3_type const &	p,
		vector3_type const &	n,
		real_type const &	distance,
		material_type *	material
	)			[inline]

Initialization Routine.

Parameters:

	bodyA	A pointer to one of the bodies in contact.
	bodyB	A pointer to the other body in contact.
	p	The actual point of contact in WCS.
	n	A unit vector giving the value of the contact normal in WCS. The normal is assumed to be oriented from body A to body B.
	distance	The separation/penetration distance
	material	A pointer to the material properties of the contact point.

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::set_error_reduction_parameter

(

real_type const &

erp

)

[inline]

See also:

ConstraintInterface.set_error_reduction_parameter()

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::set_regularization

(

vector_range const &

gamma

)

[inline]

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::set_solution

(

vector_range const &

solution

)

[inline]

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::set_use_bounce

(

bool

value

)

[inline]

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::set_use_friction

(

bool

value

)

[inline]

template<typename types >

void OpenTissue::mbd::ContactPoint< types >::set_use_stabilization

(

bool

value

)

[inline]

---

Member Data Documentation

template<typename types >

bool OpenTissue::mbd::ContactPoint< types >::m_bodies_flipped

By definition a contact point alwyas set body A to have lowest index, however end user may have initialized the contact points with body A as highest index, if so this member is set to true.

template<typename types >

real_type OpenTissue::mbd::ContactPoint< types >::m_distance

Separation (or penetration, if negative) distance.

template<typename types >

size_type OpenTissue::mbd::ContactPoint< types >::m_eta

Number of friction direction used.

template<typename types >

material_type* OpenTissue::mbd::ContactPoint< types >::m_material

The material properties, such as coefficient of friction.

template<typename types >

vector3_type OpenTissue::mbd::ContactPoint< types >::m_n

The contact normal in WCS. Always pointing from A towards B (i.e. from lower index to higher index).

template<typename types >

vector3_type OpenTissue::mbd::ContactPoint< types >::m_p

The contact point in WCS.

template<typename types >

vector3_type OpenTissue::mbd::ContactPoint< types >::m_rA

The vector from center of mass of body A to the point of contact (in WCS).

template<typename types >

vector3_type OpenTissue::mbd::ContactPoint< types >::m_rB

The vector from center of mass of body B to the point of contact (in WCS).

template<typename types >

vector_type OpenTissue::mbd::ContactPoint< types >::m_solution

Local solution vector, ie. vector of lagrange multipliers.

template<typename types >

std::vector<vector3_type> OpenTissue::mbd::ContactPoint< types >::m_t

Temporary Storage used for keeping the friction directions.

template<typename types >

real_type OpenTissue::mbd::ContactPoint< types >::m_un

The relative contact velocity in the normal direction.

template<typename types >

bool OpenTissue::mbd::ContactPoint< types >::m_use_bounce

Boolean value indicating whether newtons collision law should included in the error terms..

template<typename types >

bool OpenTissue::mbd::ContactPoint< types >::m_use_friction

Boolean value indicating whether firctional constaints should be ignored.

template<typename types >

bool OpenTissue::mbd::ContactPoint< types >::m_use_stabilization

Boolean value indicating whether stabilization should be ignored in the error terms.

---

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/mbd_contact_point.h