OpenTissue::mbd::collision_laws Namespace Reference

Classes
class	ChatterjeeRuinaCollisionLawPolicy
class	FrictionalNewtonCollisionLawPolicy
class	NewtonCollisionLawPolicy
Functions
template<typename contact_type >
contact_type::vector3_type	compute_chatterjee_ruina_impulse (contact_type const *contact)
template<typename contact_type >
contact_type::vector3_type	compute_frictional_newton_impulse (contact_type const *contact)
template<typename contact_type >
contact_type::vector3_type	compute_newton_impulse (contact_type const *contact)

---

Function Documentation

template<typename contact_type >

contact_type::vector3_type OpenTissue::mbd::collision_laws::compute_chatterjee_ruina_impulse

(

contact_type const *

contact

)

Non-increasing Energy Collision Law. This is an algebraic collision law presented in:

"A new algebraic rigid body collision law based on impulse space considerations" by Chatterjee and Ruina. Journal of Applied Mechanics, Vol 65, #4, 939-951, Dec 1998.

Can be downloaded from: http://www.tam.cornell.edu/~ruina/hplab/collision_papers.html

Parameters:

contact

A pointer to a contact point, where the collision impulse should be applied.

Returns:

The collision impulse that should be applied to object B, object A should be applied by an equal and opposite impulse.

template<typename contact_type >

contact_type::vector3_type OpenTissue::mbd::collision_laws::compute_frictional_newton_impulse

(

contact_type const *

contact

)

Newton Impact with Friction.

The implementation herein is similar to the algebraic collision law desribed in:

"Nonconvex Rigid Bodies with Stacking" by Guendelman, Bridson, and Fedkiw, SIGGRAPH 2003, ACM TOG 22, 871-878 (2003).

Parameters:

contact

A pointer to a contact point, where the collision impulse should be applied.

Returns:

The collision impulse that should be applied to object B, object A should be applied by an equal and opposite impulse.

template<typename contact_type >

contact_type::vector3_type OpenTissue::mbd::collision_laws::compute_newton_impulse

(

contact_type const *

contact

)

Newton's Collision Law. This collision law, uses the idea of relating the contact normal velocities before and after collision with a coefficient of restitution.

It contains no friction, only normal impulses are computed.

Parameters:

contact

A pointer to a contact point, where the collision impulse should be applied.

Returns:

The collision impulse that should be applied to object B, object A should be applied by an equal and opposite impulse.