TODO: not implemented yet. More...

Public Member Functions
	StateLimitedFriction ()

virtual	~StateLimitedFriction ()

virtual bool	disable (State &state) const =0
	Disable the friction constraints if they were enabled. More...

virtual bool	enable (State &state) const =0
	Enable the friction constraints if they were disabled. More...

virtual Real	getNormalForceMagnitude (const State &state) const =0
	Return the current value of the state-dependent normal force magnitude that limits this friction element. More...

virtual Real	calcEffectiveCOF (const State &state, Real defaultTransitionSpeed, Real slipSpeed) const =0

virtual Real	getSlipSpeed (const State &state) const =0

virtual Vec3	getPositionInfo (const State &state) const
	TODO: kludge needed because we're misusing existing constraints. More...

virtual void	setInstanceParameter (State &state, const Vec3 &pos) const
	TODO: kludge to set instance parameters on internal constraints; this should be the same Vec3 you got from getPositionInfo(). More...

void	setMyIndex (StateLimitedFrictionIndex fx)

StateLimitedFrictionIndex	getMyIndex () const

Detailed Description

TODO: not implemented yet.

Constructor & Destructor Documentation

SimTK::StateLimitedFriction::StateLimitedFriction ( )

inline

virtual SimTK::StateLimitedFriction::~StateLimitedFriction ( )

inlinevirtual

virtual bool SimTK::StateLimitedFriction::disable ( State & state ) const

pure virtual

Disable the friction constraints if they were enabled.

Return true if we actually had to disable something.

virtual bool SimTK::StateLimitedFriction::enable ( State & state ) const

pure virtual

Enable the friction constraints if they were disabled.

Return true if we actually had to enable something.

virtual Real SimTK::StateLimitedFriction::getNormalForceMagnitude ( const State & state ) const

pure virtual

Return the current value of the state-dependent normal force magnitude that limits this friction element.

virtual Real SimTK::StateLimitedFriction::calcEffectiveCOF	(	const State &	state,
		Real	defaultTransitionSpeed,
		Real	slipSpeed
	)		const

pure virtual

virtual Real SimTK::StateLimitedFriction::getSlipSpeed ( const State & state ) const

pure virtual

virtual Vec3 SimTK::StateLimitedFriction::getPositionInfo ( const State & state ) const

inlinevirtual

TODO: kludge needed because we're misusing existing constraints.

This must be called while Stage::Position is valid.

virtual void SimTK::StateLimitedFriction::setInstanceParameter	(	State &	state,
		const Vec3 &	pos
	)		const

inlinevirtual

TODO: kludge to set instance parameters on internal constraints; this should be the same Vec3 you got from getPositionInfo().

void SimTK::StateLimitedFriction::setMyIndex ( StateLimitedFrictionIndex fx )

inline

StateLimitedFrictionIndex SimTK::StateLimitedFriction::getMyIndex ( ) const

inline

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