SimTK::ImpulseSolver::UniContactRT Struct Reference

Public Member Functions
	UniContactRT ()
bool	hasFriction () const

Public Attributes
UnilateralContactIndex	m_ucx
MultiplierIndex	m_Nk
Real	m_sign
Array_< MultiplierIndex >	m_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

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

• ImpulseSolver.h