The ContactModel describe how impulses between two bodies are calculated and added to the bodies. The contact model is supposed to be used for iterative solving impulses between two bodies. More...

#include <ContactModel.hpp>

Public Member Functions
	ContactModel (ConstraintNode &bodyA, ConstraintNode &bodyB, ContactModelFactory *factory)
	default constructor

virtual	~ContactModel ()
	default destructor

virtual void	preImpulseCalc (Contact &contact, rwsim::dynamics::ContactPoint &point, double dtInv)
	this call will be made prior to any other calls in a timestep. It is meant to be a function that caches aux variables that can be used when calling add*Impulses multiple times.

virtual void	calcCollisionImpulse (Contact &contact, rwsim::dynamics::ContactPoint &point, double &nimpulse, double &timpulse, int iter)
	calculates collision impulse for contactpoint point and sets the result in nimpulse, timpulse.

virtual void	calcContactImpulse (Contact &contact, rwsim::dynamics::ContactPoint &point, double &nimpulse, double &timpulse)
	calculates contact impulse for contactpoint point and sets the result in nimpulse, timpulse.

virtual void	addImpulse (Contact &contact, rwsim::dynamics::ContactPoint &point, double nimpulse, double timpulse)
	adds the impulse given by nimpulse and timpulse to contactpoint point

virtual void	updateVelocity (Contact &contact)

virtual void	calcContactForce (Contact &contact, rwsim::dynamics::ContactPoint &point, double &nforce, double &tforce)
	calculates contact impulse for contactpoint point and sets the result in nimpulse, timpulse.

virtual void	addForce (Contact &contact, rwsim::dynamics::ContactPoint &point, double nforce, double tforce)
	adds the impulse given by nimpulse and timpulse to contactpoint point

RWBody *	toRWBody (dynamics::Body *body)

Detailed Description

The ContactModel describe how impulses between two bodies are calculated and added to the bodies. The contact model is supposed to be used for iterative solving impulses between two bodies.

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

rwphysics/ContactModel.hpp

Public Member Functions

Detailed Description