OBSOLETE – use CircularPointContact or EllipticalPointContact. More...

Inheritance diagram for SimTK::PointContact:

Public Member Functions
	PointContact (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, Vec3 &location, Vec3 &normal, Real radius1, Real radius2, Real depth)
	Create a PointContact object representing a general (elliptical) contact. More...

	PointContact (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, Vec3 &location, Vec3 &normal, Real radius, Real depth)
	Create a PointContact object representing a circularly symmetric contact. More...

Vec3	getLocation () const
	The location where the two surfaces touch, specified in the ground frame. More...

Vec3	getNormal () const
	Get the surface normal at the contact location. More...

Real	getRadiusOfCurvature1 () const
	Get the first principal relative radius of curvature of the contact surface. More...

Real	getRadiusOfCurvature2 () const
	Get the second principal relative radius of curvature of the contact surface. More...

Real	getEffectiveRadiusOfCurvature () const
	Get the effective relative radius of curvature of the contact surface. More...

Real	getDepth () const
	Get the penetration depth. 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 a PointContact. More...

static ContactTypeId	classTypeId ()
	Obtain the unique small-integer id for the PointContact 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)

Detailed Description

OBSOLETE – use CircularPointContact or EllipticalPointContact.

This subclass of Contact represents a symmetric contact centered at a single point, such as between two spheres or a sphere and a half space. It characterizes the contact by the center location and radius of the contact patch, the normal vector, and the penetration depth.

Constructor & Destructor Documentation

◆ PointContact() [1/2]

SimTK::PointContact::PointContact	(	ContactSurfaceIndex	surf1,
		ContactSurfaceIndex	surf2,
		Vec3 &	location,
		Vec3 &	normal,
		Real	radius1,
		Real	radius2,
		Real	depth
	)

Create a PointContact object representing a general (elliptical) contact.

Parameters

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
location	the location where the two surfaces touch, specified in the ground frame
normal	the surface normal at the contact location. This is specified in the ground frame, and points outward from surface1 towards surface2
radius1	the first principal relative radius of curvature of the contact surface
radius2	the second principal relative radius of curvature of the contact surface
depth	the penetration depth

◆ PointContact() [2/2]

SimTK::PointContact::PointContact	(	ContactSurfaceIndex	surf1,
		ContactSurfaceIndex	surf2,
		Vec3 &	location,
		Vec3 &	normal,
		Real	radius,
		Real	depth
	)

Create a PointContact object representing a circularly symmetric contact.

Parameters

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
location	the location where the two surfaces touch, specified in the ground frame
normal	the surface normal at the contact location. This is specified in the ground frame, and points outward from surface1 towards surface2
radius	the relative radius of curvature of the contact surface
depth	the penetration depth

Member Function Documentation

◆ getLocation()

Vec3 SimTK::PointContact::getLocation ( ) const

The location where the two surfaces touch, specified in the ground frame.

More precisely, the contact region is represented as a circular patch centered at this point and perpendicular to the normal vector.

◆ getNormal()

Vec3 SimTK::PointContact::getNormal ( ) const

Get the surface normal at the contact location.

This is specified in the ground frame, and points outward from surface1 towards surface2.

◆ getRadiusOfCurvature1()

Real SimTK::PointContact::getRadiusOfCurvature1 ( ) const

Get the first principal relative radius of curvature of the contact surface.

◆ getRadiusOfCurvature2()

Real SimTK::PointContact::getRadiusOfCurvature2 ( ) const

Get the second principal relative radius of curvature of the contact surface.

◆ getEffectiveRadiusOfCurvature()

Real SimTK::PointContact::getEffectiveRadiusOfCurvature ( ) const

Get the effective relative radius of curvature of the contact surface.

This is equal to sqrt(R1*R2), where R1 and R2 are the principal relative radii of curvature.

◆ getDepth()

Real SimTK::PointContact::getDepth ( ) const

Get the penetration depth.

This is defined as the minimum distance you would need to translate one surface along the normal vector to make the surfaces no longer overlap.

◆ isInstance()

static bool SimTK::PointContact::isInstance ( const Contact & contact )

static

Determine whether a Contact object is a PointContact.

◆ classTypeId()

static ContactTypeId SimTK::PointContact::classTypeId ( )