Public Member Functions | Private Attributes | List of all members
SurgSim::Physics::ContactConstraintData Class Reference

Class for Frictionless contact (only needs a plane equation) More...

#include <SurgSim/Physics/ContactConstraintData.h>

Inheritance diagram for SurgSim::Physics::ContactConstraintData:
SurgSim::Physics::ConstraintData

Public Member Functions

 ContactConstraintData ()
 Default constructor. More...
 
virtual ~ContactConstraintData ()
 Destructor. More...
 
void setPlaneEquation (const SurgSim::Math::Vector3d &n, double d)
 Sets the plane equation of the frictionless contact. More...
 
const SurgSim::Math::Vector3dgetNormal () const
 Gets the plane normal vector. More...
 
double getDistance () const
 Gets the plane distance to the origin. More...
 
- Public Member Functions inherited from SurgSim::Physics::ConstraintData
 ConstraintData ()
 Default Constructor. More...
 
virtual ~ConstraintData ()
 Destructor. More...
 

Private Attributes

SurgSim::Math::Vector3d m_normal
 Plane equation normal vector (normalized vector) More...
 
double m_distance
 Plane equation distance to origin. More...
 

Detailed Description

Class for Frictionless contact (only needs a plane equation)

Constructor & Destructor Documentation

SurgSim::Physics::ContactConstraintData::ContactConstraintData ( )
inline

Default constructor.

virtual SurgSim::Physics::ContactConstraintData::~ContactConstraintData ( )
inlinevirtual

Destructor.

Member Function Documentation

double SurgSim::Physics::ContactConstraintData::getDistance ( ) const
inline

Gets the plane distance to the origin.

Returns
The plane equation's distance to the origin
const SurgSim::Math::Vector3d& SurgSim::Physics::ContactConstraintData::getNormal ( ) const
inline

Gets the plane normal vector.

Returns
The plane equation's normal vector (normalized vector)
void SurgSim::Physics::ContactConstraintData::setPlaneEquation ( const SurgSim::Math::Vector3d n,
double  d 
)
inline

Sets the plane equation of the frictionless contact.

Parameters
nThe plane normal (normalized vector)
dThe plane distance to the origin
Note
The plane is defined by { P | n.P + d = 0 }

Member Data Documentation

double SurgSim::Physics::ContactConstraintData::m_distance
private

Plane equation distance to origin.

SurgSim::Math::Vector3d SurgSim::Physics::ContactConstraintData::m_normal
private

Plane equation normal vector (normalized vector)


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