A contact point in a contact data. More...

#include <Contacts.h>

Inheritance diagram for agxCollide::ContactPoint:

Public Types
enum	ContactForceComponents { NORMAL_FORCE = 0 , TANGENTIAL_FORCE_U , TANGENTIAL_FORCE_V }

enum	ContactPointState : agx::UInt8 { IMPACTING = 1 << 0 , NONHOLONOMIC = 1 << 1 }

Public Types inherited from agx::Physics::ContactPointPtr
typedef ContactPointData	DataType

typedef ContactPointInstance	InstanceType

typedef ContactPointModel	ModelType

Public Member Functions
	ContactPoint ()
	Default constructor.

	ContactPoint (agx::Physics::ContactPointPtr contact)

	ContactPoint (agx::Vec3 thePoint, agx::Vec3f theNormal, agx::Real theDepth)
	Construct given point, normal and depth.

void	clear ()
	Clear all values in this contact.

agx::UInt8 &	faceFeature (size_t ith)

agx::UInt8 const &	faceFeature (size_t ith) const

agx::UInt32 &	faceIndex (size_t ith)

agx::UInt32 const &	faceIndex (size_t ith) const

agx::Vec3	getForce () const

agx::Real	getForceMagnitude () const

agx::Real	getFrictionCoefficient (agx::ContactMaterial::FrictionDirection direction) const

agx::Vec3	getNormalForce () const

agx::Real	getNormalForceMagnitude () const

agx::Real	getRestitution () const

agx::Real	getTangentialCohesion (agx::ContactMaterial::FrictionDirection direction) const

agx::Vec3	getTangentialForce () const

agx::Real	getTangentialForceMagnitude () const

agx::Real	getTangentialForceUMagnitude () const

agx::Real	getTangentialForceVMagnitude () const

agx::Real	getTangentialRestitution (agx::ContactMaterial::FrictionDirection direction)

agx::Vec3	getWitnessPoint (size_t ith) const
	Get witness point for ith geometry.

agx::Real	getYoungsModulus () const

agx::Bool	hasState (ContactPointState contactPointState) const

agx::Bool	isHolonomic () const

agx::Real &	localForce (size_t idx)

agx::Real	localForce (size_t idx) const

void	setFrictionCoefficient (agx::Real coefficient, agx::ContactMaterial::FrictionDirection direction=agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY)
	Set the per contact point friction coefficient.

void	setIsHolonomic (agx::Bool isHolonomic)
	Set if contact point should be treated as a holonomic constraint ( regular contact constraint with depth ) or a non-holonomic constraint ( strictly dependent on velocity ).

void	setRestitution (agx::Real restitution)
	Set the per contact point restitution parameter.

void	setTangentialCohesion (agx::Real tanCohesion, agx::ContactMaterial::FrictionDirection direction=agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY)
	Set the per contact point tangential cohesion.

void	setTangentialRestitution (agx::Real restitution, agx::ContactMaterial::FrictionDirection direction=agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY)
	Set the tangential restitution coeffcient for a given tangential direction, or both.

void	setYoungsModulus (agx::Real youngsModulus)
	Set the per contact point Young's modulus parameter.

agx::Physics::Geometry::ShapePtr &	shape (size_t ith)

agx::Physics::Geometry::ShapePtr const &	shape (size_t ith) const

Public Member Functions inherited from agx::Physics::ContactPointPtr
AGXPHYSICS_EXPORT	ContactPointPtr ()

AGXPHYSICS_EXPORT	ContactPointPtr (agxData::EntityStorage *storage, agx::Index id)

AGXPHYSICS_EXPORT	ContactPointPtr (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT	ContactPointPtr (const agxData::EntityPtr &ptr)

AGXPHYSICS_EXPORT agx::Real &	area ()

AGXPHYSICS_EXPORT agx::Real const &	area () const

AGXPHYSICS_EXPORT agx::Real &	depth ()

AGXPHYSICS_EXPORT agx::Real const &	depth () const

AGXPHYSICS_EXPORT agx::Real &	elasticRestLengthShape1 ()

AGXPHYSICS_EXPORT agx::Real const &	elasticRestLengthShape1 () const

AGXPHYSICS_EXPORT agx::Real &	elasticRestLengthShape2 ()

AGXPHYSICS_EXPORT agx::Real const &	elasticRestLengthShape2 () const

AGXPHYSICS_EXPORT agx::Bool &	enabled ()

AGXPHYSICS_EXPORT agx::Bool const &	enabled () const

AGXPHYSICS_EXPORT agx::UInt8 &	faceFeature1 ()
	The face feature of shape 1 in contact (e.g. voronoi region on triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt8 const &	faceFeature1 () const
	The face feature of shape 1 in contact (e.g. voronoi region on triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt8 &	faceFeature2 ()
	The face feature of shape 2 in contact (e.g. voronoi region on triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt8 const &	faceFeature2 () const
	The face feature of shape 2 in contact (e.g. voronoi region on triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt32 &	faceIndex1 ()
	The face index of shape 1 in contact (e.g. index of triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt32 const &	faceIndex1 () const
	The face index of shape 1 in contact (e.g. index of triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt32 &	faceIndex2 ()
	The face index of shape 2 in contact (e.g. index of triangle for trimesh).

AGXPHYSICS_EXPORT agx::UInt32 const &	faceIndex2 () const
	The face index of shape 2 in contact (e.g. index of triangle for trimesh).

AGXPHYSICS_EXPORT agx::Vec2 &	friction ()

AGXPHYSICS_EXPORT agx::Vec2 const &	friction () const

ContactPointData *	getData ()

const ContactPointData *	getData () const

AGXPHYSICS_EXPORT agx::Vec4i8 &	indexSet ()

AGXPHYSICS_EXPORT agx::Vec4i8 const &	indexSet () const

AGXPHYSICS_EXPORT ContactPointInstance	instance ()

AGXPHYSICS_EXPORT const ContactPointInstance	instance () const

AGXPHYSICS_EXPORT agx::Vec3 &	localForce ()

AGXPHYSICS_EXPORT agx::Vec3 const &	localForce () const

AGXPHYSICS_EXPORT agx::Real &	maxNormalForce ()

AGXPHYSICS_EXPORT agx::Real const &	maxNormalForce () const

AGXPHYSICS_EXPORT agx::Vec3f &	normal ()

AGXPHYSICS_EXPORT agx::Vec3f const &	normal () const

AGXPHYSICS_EXPORT ContactPointSemantics *	operator-> ()

AGXPHYSICS_EXPORT const ContactPointSemantics *	operator-> () const

AGXPHYSICS_EXPORT ContactPointPtr &	operator= (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT ContactPointPtr &	operator= (const agxData::EntityPtr &ptr)

AGXPHYSICS_EXPORT agx::Vec3 &	point ()

AGXPHYSICS_EXPORT agx::Vec3 const &	point () const

AGXPHYSICS_EXPORT agx::Vec3 &	restitution ()

AGXPHYSICS_EXPORT agx::Vec3 const &	restitution () const

AGXPHYSICS_EXPORT agx::Physics::Geometry::ShapePtr &	shape1 ()
	Shape number 1 in contact.

AGXPHYSICS_EXPORT agx::Physics::Geometry::ShapePtr const &	shape1 () const
	Shape number 1 in contact.

AGXPHYSICS_EXPORT agx::Physics::Geometry::ShapePtr &	shape2 ()
	Shape number 2 in contact.

AGXPHYSICS_EXPORT agx::Physics::Geometry::ShapePtr const &	shape2 () const
	Shape number 2 in contact.

AGXPHYSICS_EXPORT agx::UInt8 &	state ()
	Contact point state, such as impacting, resting etc.

AGXPHYSICS_EXPORT agx::UInt8 const &	state () const
	Contact point state, such as impacting, resting etc.

AGXPHYSICS_EXPORT agx::Vec2 &	tangentialCohesion ()

AGXPHYSICS_EXPORT agx::Vec2 const &	tangentialCohesion () const

AGXPHYSICS_EXPORT agx::Vec3f &	tangentU ()

AGXPHYSICS_EXPORT agx::Vec3f const &	tangentU () const

AGXPHYSICS_EXPORT agx::Vec3f &	tangentV ()

AGXPHYSICS_EXPORT agx::Vec3f const &	tangentV () const

AGXPHYSICS_EXPORT agx::Vec3f &	velocity ()

AGXPHYSICS_EXPORT agx::Vec3f const &	velocity () const

AGXPHYSICS_EXPORT agx::Real &	youngsModulus ()

AGXPHYSICS_EXPORT agx::Real const &	youngsModulus () const

Public Member Functions inherited from agxData::EntityPtr
	EntityPtr ()

	EntityPtr (agxData::EntityStorage *storage, agx::Index id)

	EntityPtr (const agxData::EntityInstance &instance)

	EntityPtr (const agxData::EntityPtr &other)=default

	~EntityPtr ()=default

agx::Index	calculateIndex () const
	Calculate the index using the indirect id.

agxData::EntityPtr	copy ()
	Create a copy instance in the same storage.

agxData::EntityPtr	copy (agxData::EntityStorage *target)
	Copy instance to another storage.

void	copyAttributes (agxData::EntityPtr source)
	Copy instance attributes to an existing target instance.

template<typename T >
T &	dataSet ()

template<typename T >
const T &	dataSet () const

void	destroy ()
	Remove the entity from the active storage.

agxData::EntityData *	getData ()

const agxData::EntityData *	getData () const

agx::Index	getId () const

agxData::EntityModel *	getModel ()

const agxData::EntityModel *	getModel () const

agxData::EntityStorage *	getStorage () const

agx::UInt32	hash () const

void	init (agxData::EntityStorage *storage, agx::Index id)
	Set the target storage and id.

agxData::EntityInstance	instance ()

const agxData::EntityInstance	instance () const

void	invalidate ()
	Invalidate the entity pointer.

bool	isInstanceOf (agxData::EntityModel *model) const

bool	isValid () const

	operator bool () const

bool	operator! () const

bool	operator!= (const EntityPtr &rhs) const

template<typename T >
agxData::ArrayAttributeT< T >::Type &	operator() (const agxData::ArrayAttributeT< T > *attribute)
	Array attribute.

template<typename T >
const agxData::ArrayAttributeT< T >::Type &	operator() (const agxData::ArrayAttributeT< T > *attribute) const

template<typename T >
agxData::HashSetAttributeT< T >::Type &	operator() (const agxData::HashSetAttributeT< T > *attribute)
	HashSet attribute.

template<typename T >
const agxData::HashSetAttributeT< T >::Type &	operator() (const agxData::HashSetAttributeT< T > *attribute) const

template<typename T >
T &	operator() (const agxData::PointerAttributeT< T > *attribute)
	Pointer attribute.

template<typename T >
const T &	operator() (const agxData::PointerAttributeT< T > *attribute) const

template<typename T >
T &	operator() (const agxData::ScalarAttributeT< T > *attribute)
	Access the value of a specific attribute.

template<typename T >
const T &	operator() (const agxData::ScalarAttributeT< T > *attribute) const

template<typename T >
T &	operator() (const agxData::SharedAttributeT< T > *attribute)
	Shared attribute.

template<typename T >
const T &	operator() (const agxData::SharedAttributeT< T > *attribute) const

template<typename T >
agxData::VectorAttributeT< T >::Type &	operator() (const agxData::VectorAttributeT< T > *attribute)
	Vector attribute.

template<typename T >
const agxData::VectorAttributeT< T >::Type &	operator() (const agxData::VectorAttributeT< T > *attribute) const

template<typename T >
ArrayAttributeT< T >::Type &	operator() (const ArrayAttributeT< T > *attribute)

template<typename T >
const ArrayAttributeT< T >::Type &	operator() (const ArrayAttributeT< T > *attribute) const

template<typename T >
HashSetAttributeT< T >::Type &	operator() (const HashSetAttributeT< T > *attribute)

template<typename T >
const HashSetAttributeT< T >::Type &	operator() (const HashSetAttributeT< T > *attribute) const

template<typename T >
VectorAttributeT< T >::Type &	operator() (const VectorAttributeT< T > *attribute)

template<typename T >
const VectorAttributeT< T >::Type &	operator() (const VectorAttributeT< T > *attribute) const

bool	operator< (const EntityPtr &rhs) const

EntityPtr &	operator= (const EntityPtr &other)=default

EntityPtr &	operator= (EntityPtr &&)=default

bool	operator== (const EntityPtr &rhs) const

bool	operator> (const EntityPtr &rhs) const

void	print () const

void	print (std::ostream &stream) const

void	swapId (EntityPtr &other)
	Swap id with another instance.

void	swapIndex (EntityPtr &other)
	Swap index with another instance.

void	transfer (agxData::EntityStorage *target)
	Transfer instance to another storage.

void	verifyIndex () const
	Check for broken ptr, by verifying that the id is active in the storage.

Additional Inherited Members
Static Public Member Functions inherited from agxData::EntityPtr
static EntityPtr	createWithIndex (EntityStorage *storage, agx::Index index)

static void	TransformToAscii (void targetBuffer, const void sourceBuffer, size_t numElements)

Detailed Description

A contact point in a contact data.

Definition at line 55 of file Contacts.h.

Member Enumeration Documentation

◆ ContactForceComponents

enum agxCollide::ContactPoint::ContactForceComponents

Enumerator
NORMAL_FORCE	Normal force.
TANGENTIAL_FORCE_U	Tangential force U, orthogonal to the normal force and V.
TANGENTIAL_FORCE_V	Tangential force V, orthogonal to the normal force and U.

Definition at line 58 of file Contacts.h.

◆ ContactPointState

enum agxCollide::ContactPoint::ContactPointState : agx::UInt8

Enumerator

IMPACTING

This contact point is impacting - i.e., relative speed along the normal is above some threshold.

This state is calculated by the solver and is updated in the contact point before the post/last callbacks.

NONHOLONOMIC

This contact point is treated as a non-holonomic constraint in the normal direction - i.e.

a velocity constraint with target velocity 0 ( similar to friction ) where the contact depth is disregarded. This removes the right-hand side in the normal equation for the contact point.

Definition at line 65 of file Contacts.h.

Constructor & Destructor Documentation

◆ ContactPoint() [1/3]

agxCollide::ContactPoint::ContactPoint ( )

inline

Default constructor.

Definition at line 568 of file Contacts.h.

◆ ContactPoint() [2/3]

agxCollide::ContactPoint::ContactPoint ( agx::Physics::ContactPointPtr contact )

inline

Definition at line 572 of file Contacts.h.

◆ ContactPoint() [3/3]

agxCollide::ContactPoint::ContactPoint	(	agx::Vec3	thePoint,
		agx::Vec3f	theNormal,
		agx::Real	theDepth
	)

Construct given point, normal and depth.

Parameters

thePoint	- point in world
theNormal	- normalized normal in world
theDepth	- contact point depth

Member Function Documentation

◆ clear()

void agxCollide::ContactPoint::clear ( )

Clear all values in this contact.

Definition at line 577 of file Contacts.h.

◆ faceFeature() [1/2]

agx::UInt8 & agxCollide::ContactPoint::faceFeature ( size_t ith )

Parameters

ith	- 0 for first, 1 for second, index > 1 will return reference to second

Returns: reference to the ith face feature.

Definition at line 891 of file Contacts.h.

References agx::Physics::ContactPointPtr::faceFeature1(), and agx::Physics::ContactPointPtr::faceFeature2().

◆ faceFeature() [2/2]

agx::UInt8 const & agxCollide::ContactPoint::faceFeature ( size_t ith ) const

Parameters

ith	- 0 for first, 1 for second, index > 1 will return reference to second

Returns: const reference to the ith face feature.

Definition at line 897 of file Contacts.h.

References agx::Physics::ContactPointPtr::faceFeature1(), and agx::Physics::ContactPointPtr::faceFeature2().

◆ faceIndex() [1/2]

agx::UInt32 & agxCollide::ContactPoint::faceIndex ( size_t ith )

Parameters

ith	- 0 for first, 1 for second, index > 1 will return reference to second

Returns: reference to the ith face index.

Definition at line 879 of file Contacts.h.

References agx::Physics::ContactPointPtr::faceIndex1(), and agx::Physics::ContactPointPtr::faceIndex2().

◆ faceIndex() [2/2]

agx::UInt32 const & agxCollide::ContactPoint::faceIndex ( size_t ith ) const

Parameters

ith	- 0 for first, 1 for second, index > 1 will return reference to second

Returns: const reference to the ith face index.

Definition at line 885 of file Contacts.h.

References agx::Physics::ContactPointPtr::faceIndex1(), and agx::Physics::ContactPointPtr::faceIndex2().

◆ getForce()

agx::Vec3 agxCollide::ContactPoint::getForce ( ) const

Returns: The complete (signed) contact force, including both normal and tangential (friction), in the world coordinate system.

Definition at line 613 of file Contacts.h.

References getNormalForce(), and getTangentialForce().

◆ getForceMagnitude()

agx::Real agxCollide::ContactPoint::getForceMagnitude ( ) const

Returns: The complete (unsigned) contact force magnitude, including both normal and tangential (friction).

Definition at line 619 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), NORMAL_FORCE, TANGENTIAL_FORCE_U, and TANGENTIAL_FORCE_V.

◆ getFrictionCoefficient()

agx::Real agxCollide::ContactPoint::getFrictionCoefficient ( agx::ContactMaterial::FrictionDirection direction ) const

Returns: the surface friction parameter

Definition at line 939 of file Contacts.h.

References agx::Physics::ContactPointPtr::friction().

◆ getNormalForce()

agx::Vec3 agxCollide::ContactPoint::getNormalForce ( ) const

Returns: The (signed) normal force in world coordinates.

Definition at line 629 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), agx::Physics::ContactPointPtr::normal(), and NORMAL_FORCE.

Referenced by getForce().

◆ getNormalForceMagnitude()

agx::Real agxCollide::ContactPoint::getNormalForceMagnitude ( ) const

Returns: the (unsigned) magnitude of the normal force

Definition at line 635 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), and NORMAL_FORCE.

◆ getRestitution()

agx::Real agxCollide::ContactPoint::getRestitution ( ) const

Returns: the restitution parameter.

Definition at line 958 of file Contacts.h.

References agx::Physics::ContactPointPtr::restitution().

◆ getTangentialCohesion()

agx::Real agxCollide::ContactPoint::getTangentialCohesion ( agx::ContactMaterial::FrictionDirection direction ) const

Returns: the surface tangential cohesion parameter

Definition at line 988 of file Contacts.h.

References agx::Physics::ContactPointPtr::tangentialCohesion().

◆ getTangentialForce()

agx::Vec3 agxCollide::ContactPoint::getTangentialForce ( ) const

Returns: The (signed) tangential force (friction force) in world coordinates.

Definition at line 641 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), TANGENTIAL_FORCE_U, TANGENTIAL_FORCE_V, agx::Physics::ContactPointPtr::tangentU(), and agx::Physics::ContactPointPtr::tangentV().

Referenced by getForce().

◆ getTangentialForceMagnitude()

agx::Real agxCollide::ContactPoint::getTangentialForceMagnitude ( ) const

Returns: the (unsigned) magnitude of the tangential force (friction force in both U and V)

Definition at line 661 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), TANGENTIAL_FORCE_U, and TANGENTIAL_FORCE_V.

◆ getTangentialForceUMagnitude()

agx::Real agxCollide::ContactPoint::getTangentialForceUMagnitude ( ) const

Returns: the (unsigned) magnitude of the tangential force in U-direction (friction force )

Definition at line 649 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), and TANGENTIAL_FORCE_U.

◆ getTangentialForceVMagnitude()

agx::Real agxCollide::ContactPoint::getTangentialForceVMagnitude ( ) const

Returns: the (unsigned) magnitude of the tangential force in U-direction (friction force )

Definition at line 655 of file Contacts.h.

References agx::Physics::ContactPointPtr::localForce(), and TANGENTIAL_FORCE_V.

◆ getTangentialRestitution()

agx::Real agxCollide::ContactPoint::getTangentialRestitution ( agx::ContactMaterial::FrictionDirection direction )

Returns: the tangential restitution parameter for the given tangential direction.

Definition at line 968 of file Contacts.h.

References agx::Physics::ContactPointPtr::restitution().

◆ getWitnessPoint()

agx::Vec3 agxCollide::ContactPoint::getWitnessPoint ( size_t ith ) const

Get witness point for ith geometry.

The point is in world coordinates, and at time of collision detection. So it is valid in a PRE-StepEventListener or a ContactEventListener, but e.g. in a POST-StepEventListener the geometries will most likely have moved from the contact.

Parameters

ith	- 0 for first, 1 for second, index > 1 will return value for second

Returns: witness point for ith geometry, in world coordinates at collision detection time.

Definition at line 915 of file Contacts.h.

References agx::Physics::ContactPointPtr::depth(), agx::Physics::ContactPointPtr::normal(), and agx::Physics::ContactPointPtr::point().

◆ getYoungsModulus()

agx::Real agxCollide::ContactPoint::getYoungsModulus ( ) const

Returns: the youngs modulus parameter.

Definition at line 925 of file Contacts.h.

References agx::Physics::ContactPointPtr::youngsModulus().

◆ hasState()

agx::Bool agxCollide::ContactPoint::hasState ( ContactPoint::ContactPointState contactPointState ) const

inline

Returns: true if this contact point has given state

Definition at line 667 of file Contacts.h.

References agx::Physics::ContactPointPtr::state().

Referenced by isHolonomic().

◆ isHolonomic()

agx::Bool agxCollide::ContactPoint::isHolonomic ( ) const

Returns: true if this contact point is treated as a holonomic constraint, non-holonomic ( velocity only, no depth/violation ) if false.

Definition at line 672 of file Contacts.h.

References hasState(), and NONHOLONOMIC.

Referenced by setIsHolonomic().

◆ localForce() [1/2]

agx::Real & agxCollide::ContactPoint::localForce ( size_t idx )

Parameters

idx	- Specifies which direction (see enum ContactForceComponents)

Returns: a reference to the (signed) local force (in coordinate system n, u, v) for the selected component.

Definition at line 598 of file Contacts.h.

References agxAssert, and agx::Physics::ContactPointPtr::localForce().

◆ localForce() [2/2]

agx::Real agxCollide::ContactPoint::localForce ( size_t idx ) const

Parameters

idx	- Specifies which direction (see enum ContactForceComponents)

Returns: the (signed) local force (in coordinate system n, u, v) for the selected component.

Definition at line 605 of file Contacts.h.

References agxAssert, and agx::Physics::ContactPointPtr::localForce().

◆ setFrictionCoefficient()

void agxCollide::ContactPoint::setFrictionCoefficient	(	agx::Real	coefficient,
		agx::ContactMaterial::FrictionDirection	direction = `agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY`
	)

Set the per contact point friction coefficient.

The value is initialized from the matching contact material parameter. The coefficient is clamped between zero and infinity.

Parameters

coefficient	The new friction coefficient
direction	Specifies for which direction the friction value will be set. Default is BOTH_PRIMARY_AND_SECONDARY.

Definition at line 945 of file Contacts.h.

References agx::clamp(), agx::Physics::ContactPointPtr::friction(), agx::Infinity, and agx::ContactMaterial::SECONDARY_DIRECTION.

◆ setIsHolonomic()

void agxCollide::ContactPoint::setIsHolonomic ( agx::Bool isHolonomic )

Set if contact point should be treated as a holonomic constraint ( regular contact constraint with depth ) or a non-holonomic constraint ( strictly dependent on velocity ).

Parameters

isHolonomic - true if contact should be treated as a holonomic constraint, false if it should be treated as a non-holonomic constraint. ( Default: true )

Definition at line 677 of file Contacts.h.

References isHolonomic(), NONHOLONOMIC, and agx::Physics::ContactPointPtr::state().

◆ setRestitution()

void agxCollide::ContactPoint::setRestitution ( agx::Real restitution )

Set the per contact point restitution parameter.

Value is initially initialized from contact material. The value is clamped between zero and infinity.

Parameters

restitution The new restitution value.

Definition at line 963 of file Contacts.h.

References agx::clamp(), agx::Infinity, and agx::Physics::ContactPointPtr::restitution().

◆ setTangentialCohesion()

void agxCollide::ContactPoint::setTangentialCohesion	(	agx::Real	tanCohesion,
		agx::ContactMaterial::FrictionDirection	direction = `agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY`
	)

Set the per contact point tangential cohesion.

The value is initialized from the matching contact material parameter.

Parameters

tanCohesion	- The new tangential cohesion in the contact point.
direction	- Specifies for which direction the tangential cohesion value will be set. Default is BOTH_PRIMARY_AND_SECONDARY.

Definition at line 994 of file Contacts.h.

References agx::clamp(), agx::Infinity, agx::ContactMaterial::SECONDARY_DIRECTION, and agx::Physics::ContactPointPtr::tangentialCohesion().

◆ setTangentialRestitution()

void agxCollide::ContactPoint::setTangentialRestitution	(	agx::Real	restitution,
		agx::ContactMaterial::FrictionDirection	direction = `agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY`
	)

Set the tangential restitution coeffcient for a given tangential direction, or both.

The value is initialized from the matching contact material parameter. The value is clamped between zero and infinity.

Parameters

restitution	New tangential restituion value.
direction	Specifies for which direction the tangential restitution will be set.

Definition at line 974 of file Contacts.h.

References agx::clamp(), agx::Infinity, agx::Physics::ContactPointPtr::restitution(), and agx::ContactMaterial::SECONDARY_DIRECTION.

◆ setYoungsModulus()

void agxCollide::ContactPoint::setYoungsModulus ( agx::Real youngsModulus )

Set the per contact point Young's modulus parameter.

Value is initially initialized from contact material. The value is clamped between zero and infinity.

Parameters

youngsModulus The new youngsModulus value.

Definition at line 932 of file Contacts.h.

References agx::Physics::ContactPointPtr::youngsModulus().

◆ shape() [1/2]

agx::Physics::Geometry::ShapePtr & agxCollide::ContactPoint::shape ( size_t ith )

Parameters

ith	- 0 for first, 1 for second, index > 1 will return reference to second

Returns: reference to the ith shape.

Definition at line 903 of file Contacts.h.

References agx::Physics::ContactPointPtr::shape1(), and agx::Physics::ContactPointPtr::shape2().

◆ shape() [2/2]

agx::Physics::Geometry::ShapePtr const & agxCollide::ContactPoint::shape ( size_t ith ) const

Parameters

ith	- 0 for first, 1 for second, index > 1 will return reference to second

Returns: const reference to the ith shape.

Definition at line 909 of file Contacts.h.

References agx::Physics::ContactPointPtr::shape1(), and agx::Physics::ContactPointPtr::shape2().

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

Contacts.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ContactForceComponents

◆ ContactPointState

Constructor & Destructor Documentation

◆ ContactPoint() [1/3]

◆ ContactPoint() [2/3]

◆ ContactPoint() [3/3]

Member Function Documentation

◆ clear()

◆ faceFeature() [1/2]

◆ faceFeature() [2/2]

◆ faceIndex() [1/2]

◆ faceIndex() [2/2]

◆ getForce()

◆ getForceMagnitude()

◆ getFrictionCoefficient()

◆ getNormalForce()

◆ getNormalForceMagnitude()

◆ getRestitution()

◆ getTangentialCohesion()

◆ getTangentialForce()

◆ getTangentialForceMagnitude()

◆ getTangentialForceUMagnitude()

◆ getTangentialForceVMagnitude()

◆ getTangentialRestitution()

◆ getWitnessPoint()

◆ getYoungsModulus()

◆ hasState()

◆ isHolonomic()

◆ localForce() [1/2]

◆ localForce() [2/2]

◆ setFrictionCoefficient()

◆ setIsHolonomic()

◆ setRestitution()

◆ setTangentialCohesion()

◆ setTangentialRestitution()

◆ setYoungsModulus()

◆ shape() [1/2]

◆ shape() [2/2]