Class used to determine the properties of a contact constraint based on the two colliding bodies and information about their contact. More...

#include <ContactSurface.hpp>

Inheritance diagram for dart::constraint::ContactSurfaceHandler:

Public Member Functions
	ContactSurfaceHandler (ContactSurfaceHandlerPtr parent=nullptr)
	Constructor.

virtual	~ContactSurfaceHandler ()=default

virtual ContactSurfaceParams	createParams (const collision::Contact &contact, size_t numContactsOnCollisionObject) const
	Create parameters of the contact constraint.

virtual ContactConstraintPtr	createConstraint (collision::Contact &contact, size_t numContactsOnCollisionObject, double timeStep) const
	Create the constraint that represents contact between two collision objects.

ContactSurfaceHandlerPtr	getParent ()
	Get the optional parent handler (nullptr if none is set)

void	setParent (ContactSurfaceHandlerPtr parent)
	Set the optional parent handler (ignored if parent.get() == this)

Protected Attributes
ContactSurfaceHandlerPtr	mParent
	The optional parent handler.

Friends
class	ConstraintSolver

Detailed Description

Class used to determine the properties of a contact constraint based on the two colliding bodies and information about their contact.

Constructor & Destructor Documentation

◆ ContactSurfaceHandler()

dart::constraint::ContactSurfaceHandler::ContactSurfaceHandler ( ContactSurfaceHandlerPtr parent = nullptr )

explicit

Constructor.

Parameters

[in] parent Optional parent handler. In ConstraintSolver, the parent handler is automatically set to the previous handler when adding a new one. It is suggested to keep this paradigm if used elsewhere.

◆ ~ContactSurfaceHandler()

virtual dart::constraint::ContactSurfaceHandler::~ContactSurfaceHandler ( )

virtualdefault

Member Function Documentation

◆ createConstraint()

ContactConstraintPtr dart::constraint::ContactSurfaceHandler::createConstraint	(	collision::Contact &	contact,
		size_t	numContactsOnCollisionObject,
		double	timeStep
	)		const

virtual

Create the constraint that represents contact between two collision objects.

Reimplemented in dart::constraint::DefaultContactSurfaceHandler.

◆ createParams()

ContactSurfaceParams dart::constraint::ContactSurfaceHandler::createParams	(	const collision::Contact &	contact,
		size_t	numContactsOnCollisionObject
	)		const

virtual

Create parameters of the contact constraint.

This method should combine the collision properties of the two colliding bodies and write the combined result in the returned object. It is also passed the total number of contact points reported on the same collision body - that is useful e.g. for normalization of forces by the number of contact points.

Reimplemented in dart::constraint::DefaultContactSurfaceHandler.

◆ getParent()

ContactSurfaceHandlerPtr dart::constraint::ContactSurfaceHandler::getParent ( )

Get the optional parent handler (nullptr if none is set)

◆ setParent()

void dart::constraint::ContactSurfaceHandler::setParent ( ContactSurfaceHandlerPtr parent )

Set the optional parent handler (ignored if parent.get() == this)

Friends And Related Symbol Documentation

◆ ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

◆ mParent

ContactSurfaceHandlerPtr dart::constraint::ContactSurfaceHandler::mParent

protected

The optional parent handler.

Public Member Functions

Protected Attributes

Friends