Class for storing contact modeling parameters between two bodies. More...

Inheritance diagram for Moby::ContactParameters:

Public Member Functions
	ContactParameters ()
	Constructs a ContactParameters object with no object pointers. More...

	ContactParameters (BasePtr o1, BasePtr o2)
	Constructs a ContactParameters object with the given object IDs. More...

virtual void	load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml() More...

virtual void	save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const

Public Member Functions inherited from Moby::Base
	Base (const Base *b)

Public Attributes
Ravelin::sorted_pair< BasePtr >	objects
	The objects in contact.

double	epsilon
	Coefficient of restitution for contact (default is 0.0)

double	mu_coulomb
	Coefficient of Coulomb friction for contact (default is 0.0)

double	mu_viscous
	Coefficient of viscous friction for contact (default is 0.0)

double	stiffness
	contact stiffness (set to zero stiffness for true rigidity)

double	damping
	contact damping

double	penalty_Kp
	Penalty Method Depth Penalty.

double	penalty_Kv
	Penalty Method Interpenetration Speed.

unsigned	NK
	Number of edges in the polygon friction cone, minimum of 4 (default 4)

Public Attributes inherited from Moby::Base
boost::shared_ptr< void >	userdata
	Any relevant userdata.

std::string	id
	The unique ID for this object.

Additional Inherited Members
Static Public Member Functions inherited from Moby::Base
template<class T >
static boost::shared_ptr< T >	clone (boost::shared_ptr< T > x)
	Static method for cloning a shared pointer.

Detailed Description

Class for storing contact modeling parameters between two bodies.

Constructor & Destructor Documentation

ContactParameters::ContactParameters ( )

Constructs a ContactParameters object with no object pointers.

All gains and coefficients are set to zero.

ContactParameters::ContactParameters	(	BasePtr	o1,
		BasePtr	o2
	)

Constructs a ContactParameters object with the given object IDs.

All gains and coefficients are set to zero.

void ContactParameters::load_from_xml	(	boost::shared_ptr< const XMLTree >	node,
		std::map< std::string, BasePtr > &	id_map
	)

virtual

This method does not read the Base information (i.e., name()), because a name for this object is unnecessary.

Reimplemented from Moby::Base.

void ContactParameters::save_to_xml	(	XMLTreePtr	node,
		std::list< boost::shared_ptr< const Base > > &	shared_objects
	)		const

virtual

This method does not write the Base information, because neither a name nor a unique ID are useful.

Reimplemented from Moby::Base.

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