SimTK::UntrackedContact Class Reference
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) | |
Detailed Description
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".
Constructor & Destructor Documentation
◆ UntrackedContact() [1/2]
|
inline |
Default constructor creates an empty handle.
◆ UntrackedContact() [2/2]
| SimTK::UntrackedContact::UntrackedContact | ( | ContactSurfaceIndex | surf1, |
| ContactSurfaceIndex | surf2 | ||
| ) |
Create an UntrackedContact object.
- 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
Member Function Documentation
◆ isInstance()
|
static |
Determine whether a Contact object is an UntrackedContact.
◆ classTypeId()
|
static |
Obtain the unique small-integer id for the UntrackedContact class.
The documentation for this class was generated from the following file:
