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Simbody
3.5
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Simbody
3.5
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This subclass of Contact represents a pair of contact surfaces that are not yet being tracked; there is no ContactId for them. More...
Inheritance diagram for SimTK::UntrackedContact:Public Member Functions | |
| UntrackedContact () | |
| Default constructor creates an empty handle. More... | |
| UntrackedContact (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2) | |
| Create an UntrackedContact object. More... | |
| Public Member Functions inherited from SimTK::Contact | |
| Contact () | |
| The default constructor creates an empty handle. More... | |
| Contact (const Contact &source) | |
| Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source. More... | |
| ~Contact () | |
| Destructor clears the handle, deleting the referenced object if this was the last reference. More... | |
| Contact & | operator= (const Contact &source) |
| Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source. More... | |
| void | clear () |
| Clear this handle, deleting the referenced object if this was the last reference. More... | |
| bool | isEmpty () const |
| See if this handle is empty. More... | |
| ContactId | getContactId () const |
| Get the persistent ContactId that has been assigned to this Contact object if there is one (otherwise this will be invalid – you can check with isValid(). More... | |
| Condition | getCondition () const |
| Find out the current condition of this Contact object. More... | |
| ContactSurfaceIndex | getSurface1 () const |
| Get the first surface involved in the contact, specified by its index within its contact set or ContactTrackerSubsystem. More... | |
| ContactSurfaceIndex | getSurface2 () const |
| Get the second surface involved in the contact, specified by its index within its contact set or ContactTrackerSubsystem. More... | |
| const Transform & | getTransform () const |
| Return the transform X_S1S2 giving the pose of surface 2's frame measured and expressed in surface 1's frame, recorded at the time this Contact object was calculated. More... | |
| Contact & | setContactId (ContactId id) |
| Set the ContactId for this Contact object. More... | |
| Contact & | setCondition (Condition condition) |
| Set the current Condition. More... | |
| Contact & | setSurfaces (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2) |
| Set the surfaces tracked by this Contact object. More... | |
| Contact & | setTransform (const Transform &X_S1S2) |
| Set the surface-to-surface relative transform X_S1S2. More... | |
| ContactTypeId | getTypeId () const |
| Return a unique small integer corresponding to the concrete type of Contact object being referenced by this handle. More... | |
| const ContactImpl & | getImpl () const |
| ContactImpl & | updImpl () |
Static Public Member Functions | |
| static bool | isInstance (const Contact &contact) |
| Determine whether a Contact object is an UntrackedContact. More... | |
| static ContactTypeId | classTypeId () |
| Obtain the unique small-integer id for the UntrackedContact class. More... | |
| Static Public Member Functions inherited from SimTK::Contact | |
| static const char * | nameOfCondition (Condition) |
| Returns a human-readable name corresponding to the given Condition; useful for debugging. More... | |
| static ContactId | createNewContactId () |
| This creates a new ContactId starting from 1 and increasing for a very long time (to a billion or so) before repeating. More... | |
Additional Inherited Members | |
| Public Types inherited from SimTK::Contact | |
| enum | Condition { Unknown, Untracked, Anticipated, NewContact, Ongoing, Broken } |
| The Contact::Condition tracks the status of a Contact through its lifetime. More... | |
| Protected Member Functions inherited from SimTK::Contact | |
| Contact (ContactImpl *impl) | |
This subclass of Contact represents a pair of contact surfaces that are not yet being tracked; there is no ContactId for them.
We don't yet know what kind of Contact object would be appropriate for them, so this is a placeholder until a ContactTracker replaces it with something meaningful. The contact condition for one of these is always "Untracked".
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inline |
Default constructor creates an empty handle.
| SimTK::UntrackedContact::UntrackedContact | ( | ContactSurfaceIndex | surf1, |
| ContactSurfaceIndex | surf2 | ||
| ) |
Create an UntrackedContact object.
| surf1 | the index of the first surface involved in the contact, specified by its index within its contact set |
| surf2 | the index of the second surface involved in the contact, specified by its index within its contact set |
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static |
Determine whether a Contact object is an UntrackedContact.
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static |
Obtain the unique small-integer id for the UntrackedContact class.
1.8.11 
