Package org.robwork.sdurw
Class Contact3DPtr
- java.lang.Object
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- org.robwork.sdurw.Contact3DPtr
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public class Contact3DPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description Contact3DPtr()
Default constructor yielding a NULL-pointer.Contact3DPtr(long cPtr, boolean cMemoryOwn)
Contact3DPtr(Contact3D ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Contact3D
__ref__()
Dereferencing operator.void
delete()
Contact3D
deref()
The pointer stored in the object.boolean
equals(Contact3D p)
long
get_faceIdx()
index to the geometric primitive on which the contact is locatedlong
get_faceIdx2()
static long
getCPtr(Contact3DPtr obj)
double
getCurvature()
surface curvatureContact3D
getDeref()
Member access operator.Vector3Dd
getF()
the actual forcedouble
getMu()
coulomb friction coefficientVector3Dd
getN()
Surface contact normaldouble
getNormalForce()
normal forceVector3Dd
getP()
Contact positionboolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipvoid
set_faceIdx(long value)
index to the geometric primitive on which the contact is locatedvoid
set_faceIdx2(long value)
void
setCurvature(double value)
surface curvaturevoid
setF(Vector3Dd value)
the actual forcevoid
setMu(double value)
coulomb friction coefficientvoid
setN(Vector3Dd value)
Surface contact normalvoid
setNormalForce(double value)
normal forcevoid
setP(Vector3Dd value)
Contact position
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Constructor Detail
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Contact3DPtr
public Contact3DPtr(long cPtr, boolean cMemoryOwn)
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Contact3DPtr
public Contact3DPtr()
Default constructor yielding a NULL-pointer.
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Contact3DPtr
public Contact3DPtr(Contact3D ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(Contact3DPtr obj)
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delete
public void delete()
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deref
public Contact3D deref()
The pointer stored in the object.
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__ref__
public Contact3D __ref__()
Dereferencing operator.
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getDeref
public Contact3D getDeref()
Member access operator.
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equals
public boolean equals(Contact3D p)
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isShared
public boolean isShared()
check if this Ptr has shared ownership or none
ownership- Returns:
- true if Ptr has shared ownership, false if it has no ownership.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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setP
public void setP(Vector3Dd value)
Contact position
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getP
public Vector3Dd getP()
Contact position
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setN
public void setN(Vector3Dd value)
Surface contact normal
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getN
public Vector3Dd getN()
Surface contact normal
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setF
public void setF(Vector3Dd value)
the actual force
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getF
public Vector3Dd getF()
the actual force
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setNormalForce
public void setNormalForce(double value)
normal force
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getNormalForce
public double getNormalForce()
normal force
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set_faceIdx
public void set_faceIdx(long value)
index to the geometric primitive on which the contact is located
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get_faceIdx
public long get_faceIdx()
index to the geometric primitive on which the contact is located
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set_faceIdx2
public void set_faceIdx2(long value)
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get_faceIdx2
public long get_faceIdx2()
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setCurvature
public void setCurvature(double value)
surface curvature
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getCurvature
public double getCurvature()
surface curvature
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setMu
public void setMu(double value)
coulomb friction coefficient
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getMu
public double getMu()
coulomb friction coefficient
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