MOMENTUM_NAMESPACE::GranularGranularContact Class Reference

#include <GranularContacts.h>

Public Member Functions
	GranularGranularContact ()
	GranularGranularContact (agx::Physics::ParticlePairContactPtr, agxSDK::Simulation *)
std::shared_ptr< MaterialPair >	getContactMaterial () const
double	getDepth ()
Vec3	getForce () const
Vec3	getFrictionalForce () const
std::shared_ptr< GranularBody >	getGranularBody1 () const
std::shared_ptr< GranularBody >	getGranularBody2 () const
Vec3	getNormal () const
Vec3	getNormalForce () const
double	getNormalImpactForceMagnitude () const
Vec3	getPoint () const
bool	isImpacting () const

Detailed Description

A class describing a contact point between two GranularBodies.

Constructor & Destructor Documentation

GranularGranularContact() [1/2]

MOMENTUM_NAMESPACE::GranularGranularContact::GranularGranularContact	(	agx::Physics::ParticlePairContactPtr	,
		agxSDK::Simulation *
	)

Create a wrapper around an agx::Physics::GranularBodyPtr.

GranularGranularContact() [2/2]

MOMENTUM_NAMESPACE::GranularGranularContact::GranularGranularContact

(

)

Null-constructor.

Member Function Documentation

getContactMaterial()

std::shared_ptr< MaterialPair > MOMENTUM_NAMESPACE::GranularGranularContact::getContactMaterial

(

)

const

Get the contact material that the collision is using.

Returns

the contact material between the two objects that are colliding

getDepth()

double MOMENTUM_NAMESPACE::GranularGranularContact::getDepth

(

)

Get the depth of the contact in meters, describing the size of the overlap.

Returns

the depth of the contact

getForce()

Vec3 MOMENTUM_NAMESPACE::GranularGranularContact::getForce

(

)

const

Get the force that this contact applies to its bodies in Newton.

Returns

the force of this contact

getFrictionalForce()

Vec3 MOMENTUM_NAMESPACE::GranularGranularContact::getFrictionalForce

(

)

const

Get the tangential force that this contact applies to its bodies in Newton.

Along the surface of the contact

Returns

the tangential force of this contact

getGranularBody1()

std::shared_ptr< GranularBody > MOMENTUM_NAMESPACE::GranularGranularContact::getGranularBody1

(

)

const

Get the first GranularBody in the contact.

Returns

The first GranularBody in the contact.

getGranularBody2()

std::shared_ptr< GranularBody > MOMENTUM_NAMESPACE::GranularGranularContact::getGranularBody2

(

)

const

Get the second GranularBody in the contact.

Returns

The second GranularBody in the contact.

getNormal()

Vec3 MOMENTUM_NAMESPACE::GranularGranularContact::getNormal

(

)

const

Get the normal of this contact.

Orthogonal against the surface of the contact

Returns

the normal of this contact

getNormalForce()

Vec3 MOMENTUM_NAMESPACE::GranularGranularContact::getNormalForce

(

)

const

Get the normal force that this contact applies to its bodies in Newton.

Orthogonal against the surface of the contact

Returns

the normal force of this contact

getNormalImpactForceMagnitude()

double MOMENTUM_NAMESPACE::GranularGranularContact::getNormalImpactForceMagnitude

(

)

const

Returns the magnitude of the normal impact force if the contact is impacting.

getPoint()

Vec3 MOMENTUM_NAMESPACE::GranularGranularContact::getPoint

(

)

const

Get the point of the contact in the world.

In meters.

Returns

the point of the contact

isImpacting()

bool MOMENTUM_NAMESPACE::GranularGranularContact::isImpacting

(

)

const

Returns true/false if the contact is impacting.