Simbody  3.6
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

◆ UniContactRT()

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

Member Function Documentation

◆ hasFriction()

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

Member Data Documentation

◆ m_ucx

UnilateralContactIndex SimTK::ImpulseSolver::UniContactRT::m_ucx

◆ m_Nk

MultiplierIndex SimTK::ImpulseSolver::UniContactRT::m_Nk

◆ m_sign

Real SimTK::ImpulseSolver::UniContactRT::m_sign

◆ m_Fk

Array_<MultiplierIndex> SimTK::ImpulseSolver::UniContactRT::m_Fk

◆ m_type

ContactType SimTK::ImpulseSolver::UniContactRT::m_type

◆ m_effCOR

Real SimTK::ImpulseSolver::UniContactRT::m_effCOR

◆ m_effMu

Real SimTK::ImpulseSolver::UniContactRT::m_effMu

◆ m_contactCond

UniCond SimTK::ImpulseSolver::UniContactRT::m_contactCond

◆ m_frictionCond

FricCond SimTK::ImpulseSolver::UniContactRT::m_frictionCond

◆ m_slipVel

Vec2 SimTK::ImpulseSolver::UniContactRT::m_slipVel

◆ m_slipMag

Real SimTK::ImpulseSolver::UniContactRT::m_slipMag

◆ m_impulse

Vec3 SimTK::ImpulseSolver::UniContactRT::m_impulse

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