A Contact contains information about the spatial relationship between two surfaces that are near, or in contact with, each other. More...

Inheritance diagram for SimTK::Contact:

Public Types
enum	Condition { Unknown, Untracked, Anticipated, NewContact, Ongoing, Broken }
	The Contact::Condition tracks the status of a Contact through its lifetime. More...

Public Member Functions
	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 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...

Protected Member Functions
	Contact (ContactImpl *impl)

Detailed Description

A Contact contains information about the spatial relationship between two surfaces that are near, or in contact with, each other.

It usually is created by a ContactTracker or CollisionDetectionAlgorithm, and is retrieved from a ContactTrackerSubsystem or GeneralContactSubsystem.

The base class records only the indices of the two surfaces that are in contact, and the relative Transform between them at the time the Contact was recorded. ContactTrackers or CollisionDetectionAlgorithms which characterize contacts in more complex ways will return objects that are subclasses of Contact that provide additional information.

Member Enumeration Documentation

◆ Condition

enum SimTK::Contact::Condition

The Contact::Condition tracks the status of a Contact through its lifetime.

Enumerator
Unknown	this is an illegal value
Untracked	this pair not yet being tracked; might not contact
Anticipated	we expect these to contact soon
NewContact	first time seen; needs a ContactId assigned
Ongoing	was new or ongoing before; still in contact now
Broken	was new or ongoing before; no longer in contact

Constructor & Destructor Documentation

◆ Contact() [1/3]

SimTK::Contact::Contact ( )

inline

The default constructor creates an empty handle.

◆ Contact() [2/3]

SimTK::Contact::Contact ( const Contact & source )

Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source.

◆ ~Contact()

SimTK::Contact::~Contact ( )

inline

Destructor clears the handle, deleting the referenced object if this was the last reference.

◆ Contact() [3/3]

SimTK::Contact::Contact ( ContactImpl * impl )

explicitprotected

Member Function Documentation

◆ nameOfCondition()

static const char* SimTK::Contact::nameOfCondition ( Condition )

static

Returns a human-readable name corresponding to the given Condition; useful for debugging.

If the Condition is unrecognized the method will return some text to that effect rather than crashing.

◆ operator=()

Contact& SimTK::Contact::operator= ( const Contact & source )

Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source.

◆ clear()

void SimTK::Contact::clear ( )

Clear this handle, deleting the referenced object if this was the last reference.

◆ isEmpty()

bool SimTK::Contact::isEmpty ( ) const

inline

See if this handle is empty.

◆ getContactId()

ContactId SimTK::Contact::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().

◆ getCondition()

Condition SimTK::Contact::getCondition ( ) const

Find out the current condition of this Contact object.

◆ getSurface1()

ContactSurfaceIndex SimTK::Contact::getSurface1 ( ) const

Get the first surface involved in the contact, specified by its index within its contact set or ContactTrackerSubsystem.

◆ getSurface2()

ContactSurfaceIndex SimTK::Contact::getSurface2 ( ) const

Get the second surface involved in the contact, specified by its index within its contact set or ContactTrackerSubsystem.

◆ getTransform()

const Transform& SimTK::Contact::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.

◆ setContactId()

Contact& SimTK::Contact::setContactId ( ContactId id )

Set the ContactId for this Contact object.

This must persist over the lifetime of a single contact event.

◆ setCondition()

Contact& SimTK::Contact::setCondition ( Condition condition )

Set the current Condition.

◆ setSurfaces()

Contact& SimTK::Contact::setSurfaces	(	ContactSurfaceIndex	surf1,
		ContactSurfaceIndex	surf2
	)

Set the surfaces tracked by this Contact object.

◆ setTransform()

Contact& SimTK::Contact::setTransform ( const Transform & X_S1S2 )

Set the surface-to-surface relative transform X_S1S2.

◆ getTypeId()

ContactTypeId SimTK::Contact::getTypeId ( ) const

Return a unique small integer corresponding to the concrete type of Contact object being referenced by this handle.

◆ createNewContactId()

static ContactId SimTK::Contact::createNewContactId ( )

static

This creates a new ContactId starting from 1 and increasing for a very long time (to a billion or so) before repeating.

ContactId 0 is never returned and this call is thread-safe.

◆ getImpl()

const ContactImpl& SimTK::Contact::getImpl ( ) const

inline

◆ updImpl()

ContactImpl& SimTK::Contact::updImpl ( )

inline

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

Contact.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ Condition

Constructor & Destructor Documentation

◆ Contact() [1/3]

◆ Contact() [2/3]

◆ ~Contact()

◆ Contact() [3/3]

Member Function Documentation

◆ nameOfCondition()

◆ operator=()

◆ clear()

◆ isEmpty()

◆ getContactId()

◆ getCondition()

◆ getSurface1()

◆ getSurface2()

◆ getTransform()

◆ setContactId()

◆ setCondition()

◆ setSurfaces()

◆ setTransform()

◆ getTypeId()

◆ createNewContactId()

◆ getImpl()

◆ updImpl()