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]

Contact3D ( rw::math::Vector3D<>  tp, rw::math::Vector3D<>  tn, rw::math::Vector3D<>  tf  )

inline

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:

• Contact3D.hpp