dart::constraint::DefaultContactSurfaceHandler Class Reference

Default contact surface handler. More...

#include <ContactSurface.hpp>

Inheritance diagram for dart::constraint::DefaultContactSurfaceHandler:

Public Member Functions
virtual	~DefaultContactSurfaceHandler ()=default
ContactSurfaceParams	createParams (const collision::Contact &contact, size_t numContactsOnCollisionObject) const override
	Create parameters of the contact constraint.
ContactConstraintPtr	createConstraint (collision::Contact &contact, size_t numContactsOnCollisionObject, double timeStep) const override
	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)

Static Protected Member Functions
static double	computeFrictionCoefficient (const dynamics::ShapeNode *shapeNode)
static double	computePrimaryFrictionCoefficient (const dynamics::ShapeNode *shapeNode)
static double	computeSecondaryFrictionCoefficient (const dynamics::ShapeNode *shapeNode)
static double	computePrimarySlipCompliance (const dynamics::ShapeNode *shapeNode)
static double	computeSecondarySlipCompliance (const dynamics::ShapeNode *shapeNode)
static Eigen::Vector3d	computeWorldFirstFrictionDir (const dynamics::ShapeNode *shapenode)
static double	computeRestitutionCoefficient (const dynamics::ShapeNode *shapeNode)

Protected Attributes
ContactSurfaceHandlerPtr	mParent
	The optional parent handler.

Friends
class	ContactConstraint

Detailed Description

Default contact surface handler.

It chooses friction direction of the body with lower friction coefficient. It also adjusts slip compliance by mutliplying it with the number of contact points.

Constructor & Destructor Documentation

~DefaultContactSurfaceHandler()

virtual dart::constraint::DefaultContactSurfaceHandler::~DefaultContactSurfaceHandler ( )

virtualdefault

Member Function Documentation

computeFrictionCoefficient()

double dart::constraint::DefaultContactSurfaceHandler::computeFrictionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computePrimaryFrictionCoefficient()

double dart::constraint::DefaultContactSurfaceHandler::computePrimaryFrictionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computePrimarySlipCompliance()

double dart::constraint::DefaultContactSurfaceHandler::computePrimarySlipCompliance ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeRestitutionCoefficient()

double dart::constraint::DefaultContactSurfaceHandler::computeRestitutionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeSecondaryFrictionCoefficient()

double dart::constraint::DefaultContactSurfaceHandler::computeSecondaryFrictionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeSecondarySlipCompliance()

double dart::constraint::DefaultContactSurfaceHandler::computeSecondarySlipCompliance ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeWorldFirstFrictionDir()

Eigen::Vector3d dart::constraint::DefaultContactSurfaceHandler::computeWorldFirstFrictionDir ( const dynamics::ShapeNode *  shapenode )

staticprotected

createConstraint()

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

overridevirtual

Create the constraint that represents contact between two collision objects.

Reimplemented from dart::constraint::ContactSurfaceHandler.

createParams()

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

overridevirtual

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 from dart::constraint::ContactSurfaceHandler.

getParent()

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

inherited

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

setParent()

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

inherited

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

Friends And Related Symbol Documentation

ContactConstraint

friend class ContactConstraint

friend

Member Data Documentation

mParent

ContactSurfaceHandlerPtr dart::constraint::ContactSurfaceHandler::mParent

protectedinherited

The optional parent handler.