Class Contact3D


  • public class Contact3D
    extends java.lang.Object
    data structure for describing a contact in 3D
    • Constructor Detail

      • Contact3D

        public Contact3D​(long cPtr,
                         boolean cMemoryOwn)
      • Contact3D

        public Contact3D()
        constructor
      • Contact3D

        public Contact3D​(Vector3Dd tp,
                         Vector3Dd tn,
                         double normalf)
        constructor
        Parameters:
        tp - [in] point contact
        tn - [in] contact normal
        normalf - [in] normal force in the contact
      • Contact3D

        public Contact3D​(Vector3Dd tp,
                         Vector3Dd tn,
                         Vector3Dd tf)
        constructor
        Parameters:
        tp - [in] point contact
        tn - [in] contact normal
        tf - [in] force in the contact
    • Method Detail

      • getCPtr

        public static long getCPtr​(Contact3D obj)
      • delete

        public void delete()
      • setP

        public void setP​(Vector3Dd value)
        Contact position
      • getP

        public Vector3Dd getP()
        Contact position
      • setN

        public void setN​(Vector3Dd value)
        Surface contact normal
      • getN

        public Vector3Dd getN()
        Surface contact normal
      • setF

        public void setF​(Vector3Dd value)
        the actual force
      • getF

        public Vector3Dd getF()
        the actual force
      • setNormalForce

        public void setNormalForce​(double value)
        normal force
      • getNormalForce

        public double getNormalForce()
        normal force
      • set_faceIdx

        public void set_faceIdx​(long value)
        index to the geometric primitive on which the contact is located
      • get_faceIdx

        public long get_faceIdx()
        index to the geometric primitive on which the contact is located
      • set_faceIdx2

        public void set_faceIdx2​(long value)
      • get_faceIdx2

        public long get_faceIdx2()
      • setCurvature

        public void setCurvature​(double value)
        surface curvature
      • getCurvature

        public double getCurvature()
        surface curvature
      • setMu

        public void setMu​(double value)
        coulomb friction coefficient
      • getMu

        public double getMu()
        coulomb friction coefficient