ContactPoint Class Reference

representation of a contact point More...

#include <ContactPoint.hpp>

Public Member Functions
	ContactPoint ()
	Construct empty contact point.
virtual	~ContactPoint ()
	Destructor.

Public Attributes
bool	isFirstContact
	true if first contact
double	nImpulse
	normal impulse
double	tImpulse
	tangential impulse
double	dist
	distance between pA and pB
double	bias
	bias
double	penetrationA
	the penetration depth of A into B
double	penetrationB
	the penetration depth of B into A
double	nForce
	the normal force
double	tForce
	the normal torque
double	penetration
	the penetration of the contact point
rw::math::Vector3D	p
	the contact position
rw::math::Vector3D	n
	the contact normal
rw::math::Vector3D	t
	the tangential unit velocity
rw::math::Vector3D	pA
	position of contact point on core of A
rw::math::Vector3D	pAInit
	position pA recorded on first contact
rw::math::Vector3D	pB
	position of contact point on core of B
rw::math::Vector3D	pBInit
	position pB recorded on first contact
rw::math::InertiaMatrix	K
	K.
rw::math::InertiaMatrix	KInv
	KInv.
void *	userdata
	user specific data
double	mu
	friction

Detailed Description

representation of a contact point

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

• ContactPoint.hpp