ContactModelFactory Class Reference

The ContactModelFactory functions as a mediator to the functionallity that is required by the contact graph. More...

#include <ContactModelFactory.hpp>

Public Member Functions
	ContactModelFactory (rwsim::dynamics::DynamicWorkCell *dwc, CNodePool *pool)
	constructor
virtual	~ContactModelFactory ()
	Default destructor.
virtual void	broadPhaseCalc (rw::kinematics::State &state, rw::kinematics::FramePairSet &oFrames)
	calculates the broad phase contact information and adds all contacting frames to the frame pair list oFrames
virtual void	narrowPhaseCalc (ConstraintEdge &edge, rw::kinematics::State &state)
	calculates narrow phase contact information, and adds it to the edge
virtual void	DetermineContact (ConstraintEdge &edge, rw::kinematics::State &state)
	Determines the contact information proximity info located in the Edge.
virtual ConstraintEdge *	CreateConstraintEdge (CNodePair &nodePair)
	creates a ConstraintEdge from a pair of nodes
ConstraintEdge *	CreateConstraintEdge (ConstraintNode *nodeA, ConstraintNode *nodeB)
	constructs an edge using the above method, but sorts the nodes such that the first node in the pair has the lowest pointer value.
double	getTouchDist ()
	The the maximal allowed distance between two touching contacts.
double	getPenetrationDist ()
	The minimal allowed distance between two contacts.

Detailed Description

The ContactModelFactory functions as a mediator to the functionallity that is required by the contact graph.

• Broad and Narrow phase collision detection
• Contact and collision determination
• Creating constraints between constraint nodes

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

• ContactModelFactory.hpp