Collaboration diagram for Contact::ContactObject:

Public Member Functions
void	InitialSetup (ISimObjectCreator *creator)

void	UpdateObjectState (const double T, const double *const X)

int	PointPenetration (const cvec3 &O, const double &r, double &oPen, cvec3 &oInt)

void	PointContactForce (const cvec3 &cPos, const cvec3 &cVel, const double &cPen, const cvec3 &cInt, cvec3 &cFor, cvec3 &cMon)

double	PointDistance (const cvec3 &O, const double &r)

void	InitialSetup (ISimObjectCreator *creator)

void	UpdateObjectState (const double T, const double *const X)

int	PointPenetration (const cvec3 &O, const double &r, double &oPen, cvec3 &oInt)

void	PointContactForce (const cvec3 &cPos, const cvec3 &cVel, const double &cPen, const cvec3 &cInt, cvec3 &cFor, cvec3 &cMon)

Public Attributes
int	numV

cvec3 *	xyzVC

cvec3 *	xyzV

int	numF

cvec3i *	indexF

double	cKne

double	cKte

double	cKnv

double	cMui

double	cMaxP

double	cMaxR

ISignalPort *	InObjPos

ISignalPort *	InObjQuat
	Input object position.

ISignalPort *	InObjVel
	Input object quaternion.

ISignalPort *	InObjOmega
	Input object velocity.

cvec3	objPos
	Input object angular velocity.

cquat	objQuatL2G

cvec3	objVel

cvec3	objOmega

AABB	objAABB

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

Public Member Functions

Public Attributes