RobWorkProject  24.6.21-
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ContactPoint Class Reference

representation of a contact point More...

#include <ContactPoint.hpp>

Public Member Functions

 ContactPoint ()
 Construct empty contact point.
 
virtual ~ContactPoint ()
 Destructor.
 

Public Attributes

bool isFirstContact
 true if first contact
 
double nImpulse
 normal impulse
 
double tImpulse
 tangential impulse
 
double dist
 distance between pA and pB
 
double bias
 bias
 
double penetrationA
 the penetration depth of A into B
 
double penetrationB
 the penetration depth of B into A
 
double nForce
 the normal force
 
double tForce
 the normal torque
 
double penetration
 the penetration of the contact point
 
rw::math::Vector3D p
 the contact position
 
rw::math::Vector3D n
 the contact normal
 
rw::math::Vector3D t
 the tangential unit velocity
 
rw::math::Vector3D pA
 position of contact point on core of A
 
rw::math::Vector3D pAInit
 position pA recorded on first contact
 
rw::math::Vector3D pB
 position of contact point on core of B
 
rw::math::Vector3D pBInit
 position pB recorded on first contact
 
rw::math::InertiaMatrix K
 K.
 
rw::math::InertiaMatrix KInv
 KInv.
 
void * userdata
 user specific data
 
double mu
 friction
 

Detailed Description

representation of a contact point


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