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Contact3D Class Reference

data structure for describing a contact in 3D More...

#include <Contact3D.hpp>

Public Member Functions

 Contact3D ()
 constructor
 
 Contact3D (rw::math::Vector3D<> tp, rw::math::Vector3D<> tn, double normalf)
 constructor More...
 
 Contact3D (rw::math::Vector3D<> tp, rw::math::Vector3D<> tn, rw::math::Vector3D<> tf)
 constructor More...
 

Public Attributes

rw::math::Vector3D< double > p
 Contact position.
 
rw::math::Vector3D< double > n
 Surface contact normal.
 
rw::math::Vector3D< double > f
 the actual force
 
double normalForce
 normal force
 
unsigned int _faceIdx
 index to the geometric primitive on which the contact is located
 
unsigned int _faceIdx2
 
double curvature
 surface curvature
 
double mu
 coulomb friction coefficient
 

Detailed Description

data structure for describing a contact in 3D

Constructor & Destructor Documentation

◆ Contact3D() [1/2]

Contact3D ( rw::math::Vector3D<>  tp,
rw::math::Vector3D<>  tn,
double  normalf 
)
inline

constructor

Parameters
tp[in] point contact
tn[in] contact normal
normalf[in] normal force in the contact

◆ Contact3D() [2/2]

constructor

Parameters
tp[in] point contact
tn[in] contact normal
tf[in] force in the contact

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