![]() |
RobWorkProject
25.2.11-
|
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 | |
representation of a contact point