MOMENTUM_NAMESPACE::GranularRigidBodyContact Class Reference

#include <GranularContacts.h>

Public Member Functions
	GranularRigidBodyContact ()
	GranularRigidBodyContact (agx::Physics::ParticleGeometryContactPtr, agxSDK::Simulation *)
std::shared_ptr< MaterialPair >	getContactMaterial () const
double	getDepth ()
Vec3	getForce () const
Vec3	getFrictionalForce () const
std::shared_ptr< GranularBody >	getGranularBody () const
Vec3	getNormal () const
Vec3	getNormalForce () const
double	getNormalImpactForceMagnitude () const
Vec3	getPoint () const
std::shared_ptr< RigidBody >	getRigidBody () const
bool	isImpacting () const

Detailed Description

A class describing a contact point between a GranularBody and a RigidBody.

Constructor & Destructor Documentation

GranularRigidBodyContact() [1/2]

MOMENTUM_NAMESPACE::GranularRigidBodyContact::GranularRigidBodyContact	(	agx::Physics::ParticleGeometryContactPtr	,
		agxSDK::Simulation *
	)

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

GranularRigidBodyContact() [2/2]

MOMENTUM_NAMESPACE::GranularRigidBodyContact::GranularRigidBodyContact

(

)

Null-constructor.

Member Function Documentation

getContactMaterial()

std::shared_ptr< MaterialPair > MOMENTUM_NAMESPACE::GranularRigidBodyContact::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::GranularRigidBodyContact::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::GranularRigidBodyContact::getForce

(

)

const

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

Returns

the force of this contact

getFrictionalForce()

Vec3 MOMENTUM_NAMESPACE::GranularRigidBodyContact::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

getGranularBody()

std::shared_ptr< GranularBody > MOMENTUM_NAMESPACE::GranularRigidBodyContact::getGranularBody

(

)

const

Get the GranularBody in the contact.

Returns

The GranularBody in the contact.

getNormal()

Vec3 MOMENTUM_NAMESPACE::GranularRigidBodyContact::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::GranularRigidBodyContact::getNormalForce

(

)

const

Get the normal 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::GranularRigidBodyContact::getNormalImpactForceMagnitude

(

)

const

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

getPoint()

Vec3 MOMENTUM_NAMESPACE::GranularRigidBodyContact::getPoint

(

)

const

Get the point of the contact in the world.

In meters.

Returns

the point of the contact

getRigidBody()

std::shared_ptr< RigidBody > MOMENTUM_NAMESPACE::GranularRigidBodyContact::getRigidBody

(

)

const

Get the Rigid Body in the contact.

Returns

The GranularBody in the contact.

isImpacting()

bool MOMENTUM_NAMESPACE::GranularRigidBodyContact::isImpacting

(

)

const

Returns true/false if the contact is impacting.