A contact manifold is an area of contact between two objects, that exists for several timesteps in a simulated environment. For each timestep the manifold is updated with new contact points such that the manifold is dynamic.
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#include <ContactManifold.hpp>

static void  generateContactManifolds (std::vector< ContactPoint * > &points, std::vector< ContactManifold * > &manifolds) 
 updates the manifolds with the new contact points. if some contact points does not fit in one of the manifolds then new manifolds are added. More...


static void  genThresContactManifolds (std::vector< ContactPoint > &points, std::vector< ContactManifold * > &manifolds, double thres) 
 updates the manifolds with the new contact points. if some contact points does not fit in one of the manifolds then new manifolds are added. The clustering method for this contact generator is based on a simple max distance from deepest penetrating point. More...


A contact manifold is an area of contact between two objects, that exists for several timesteps in a simulated environment. For each timestep the manifold is updated with new contact points such that the manifold is dynamic.
for each timestep do the following:
manifold.reset();
◆ ContactManifold()
default constructor
 Returns
◆ ~ContactManifold()
◆ addContact()
add a contact point to this contact manifold.
 Parameters

◆ generateContactManifolds()
updates the manifolds with the new contact points. if some contact points does not fit in one of the manifolds then new manifolds are added.
 Parameters

◆ genThresContactManifolds()
static void genThresContactManifolds 
( 
std::vector< ContactPoint > & 
points, 


std::vector< ContactManifold * > & 
manifolds, 


double 
thres 

) 
 

static 
updates the manifolds with the new contact points. if some contact points does not fit in one of the manifolds then new manifolds are added. The clustering method for this contact generator is based on a simple max distance from deepest penetrating point.
 Parameters

points  
manifolds  
thres  [in] maximum distance from deepest penetrating point. 
◆ isInManifold()
test if the contactpoint point is close enough to the manifold to be part of it.
 Parameters

 Returns
 true if point is close enough to manifold, false otherwise
The documentation for this class was generated from the following file: