Package org.robwork.sdurwsim

Class Contact

java.lang.Object

org.robwork.sdurwsim.Contact

public class Contact
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
Contact()
Contact(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Transform3D	aTb()
void	delete()
static long	getCPtr(Contact obj)
double	getDepth()
Frame	getFrameA()
Frame	getFrameB()
Vector3D	getNormal()
Vector3D	getPointA()
Vector3D	getPointB()
void	setDepth()
void	setDepth(double depth)
void	setFrameA(Frame Aframe)
void	setFrameB(Frame Bframe)
void	setNormal(Vector3D normal)
void	setPointA(Vector3D pointA)
void	setPointB(Vector3D pointB)
void	setPoints(Vector3D pointA, Vector3D pointB)
void	setTransform(Transform3D aTb)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Contact

public Contact(long cPtr,
               boolean cMemoryOwn)

Contact

public Contact()

Method Detail

getCPtr

public static long getCPtr(Contact obj)

delete

public void delete()

getFrameA

public Frame getFrameA()

getFrameB

public Frame getFrameB()

aTb

public Transform3D aTb()

getPointA

public Vector3D getPointA()

getPointB

public Vector3D getPointB()

getNormal

public Vector3D getNormal()

getDepth

public double getDepth()

setFrameA

public void setFrameA(Frame Aframe)

setFrameB

public void setFrameB(Frame Bframe)

setTransform

public void setTransform(Transform3D aTb)

setPointA

public void setPointA(Vector3D pointA)

setPointB

public void setPointB(Vector3D pointB)

setPoints

public void setPoints(Vector3D pointA,
                      Vector3D pointB)

setNormal

public void setNormal(Vector3D normal)

setDepth

public void setDepth()

setDepth

public void setDepth(double depth)