Simbody  3.5
SimTK::ImpulseSolver::UniContactRT Struct Reference

Public Member Functions

 UniContactRT ()
 
bool hasFriction () const
 

Public Attributes

UnilateralContactIndex m_ucx
 
MultiplierIndex m_Nk
 
Real m_sign
 
Array_< MultiplierIndexm_Fk
 
ContactType m_type
 
Real m_effCOR
 
Real m_effMu
 
UniCond m_contactCond
 
FricCond m_frictionCond
 
Vec2 m_slipVel
 
Real m_slipMag
 
Vec3 m_impulse
 

Constructor & Destructor Documentation

SimTK::ImpulseSolver::UniContactRT::UniContactRT ( )
inline

Member Function Documentation

bool SimTK::ImpulseSolver::UniContactRT::hasFriction ( ) const
inline

Member Data Documentation

UnilateralContactIndex SimTK::ImpulseSolver::UniContactRT::m_ucx
MultiplierIndex SimTK::ImpulseSolver::UniContactRT::m_Nk
Real SimTK::ImpulseSolver::UniContactRT::m_sign
Array_<MultiplierIndex> SimTK::ImpulseSolver::UniContactRT::m_Fk
ContactType SimTK::ImpulseSolver::UniContactRT::m_type
Real SimTK::ImpulseSolver::UniContactRT::m_effCOR
Real SimTK::ImpulseSolver::UniContactRT::m_effMu
UniCond SimTK::ImpulseSolver::UniContactRT::m_contactCond
FricCond SimTK::ImpulseSolver::UniContactRT::m_frictionCond
Vec2 SimTK::ImpulseSolver::UniContactRT::m_slipVel
Real SimTK::ImpulseSolver::UniContactRT::m_slipMag
Vec3 SimTK::ImpulseSolver::UniContactRT::m_impulse

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