sheep::Contact Class Reference

#include <contact.h>

List of all members.

Public Types
enum	Type { SEPARATING_CONTACT, RESTING_CONTACT, COLLIDING_CONTACT }
Public Member Functions
void	Update ()
Type	GetType ()
bool	operator== (const Contact &c) const
void	CancelNormalVelocity ()
Vector3	GetNormalDerivative () const
Public Attributes
RigidObject *	m_a
RigidObject *	m_b
Feature	m_fa
Feature	m_fb
Vector3	m_pa
Vector3	m_pb
Vector3	m_va
Vector3	m_vb
Vector3	m_n
bool	m_inactivated

---

Member Enumeration Documentation

enum sheep::Contact::Type

Enumeration values: SEPARATING_CONTACT  RESTING_CONTACT  COLLIDING_CONTACT  Definition at line 53 of file contact.h.

---

Member Function Documentation

void Contact::CancelNormalVelocity (   )

Definition at line 120 of file contact.cpp. References sheep::RigidBody::ApplyAngularImpulse(), sheep::RigidBody::ApplyLinearImpulse(), sheep::RigidObject::GetBody(), sheep::RigidBody::GetMass(), sheep::RigidBody::GetWorldInertiaTensor(), sheep::Matrix3::Inverse(), sheep::RigidBody::IsFrozen(), m_a, m_n, m_pa, m_pb, m_va, m_vb, sheep::Real, sheep::RigidBody::TransformVectorToWorld(), and Update(). Referenced by sheep::RCTracker::ResolveAll().

Vector3 Contact::GetNormalDerivative (   )  const

Definition at line 164 of file contact.cpp. References sheep::RigidBody::GetAngularVelocity(), sheep::RigidObject::GetBody(), sheep::RigidObject::GetModel(), m_a, m_fa, m_fb, sheep::Feature::m_id0, sheep::Feature::m_id1, m_n, m_pa, sheep::Feature::m_type, sheep::RigidModel::m_vertices, sheep::Vector3::Norm(), sheep::Vector3::Normalized(), and sheep::RigidBody::TransformPointToWorld(). Referenced by sheep::RCTracker::compute_b_vector().

Contact::Type Contact::GetType (   )  [inline]

Definition at line 96 of file contact.h. Referenced by sheep::Subspace::find_contacts().

bool Contact::operator== (  const Contact &  c  )  const [inline]

Definition at line 112 of file contact.h.

void Contact::Update (   )

Definition at line 33 of file contact.cpp. References sheep::feq(), sheep::fnz(), sheep::RigidObject::GetBody(), sheep::RigidObject::GetModel(), sheep::RigidBody::GetPointVelocity(), sheep::RigidBody::GetPosition(), sheep::RigidModel::IsPointInTriangle(), m_a, m_fa, m_fb, sheep::Feature::m_id0, sheep::Feature::m_id1, m_inactivated, m_n, m_pa, m_pb, sheep::Feature::m_type, sheep::RigidModel::Face::m_v0, sheep::RigidModel::Face::m_v1, sheep::RigidModel::Face::m_v2, m_va, m_vb, sheep::RigidModel::m_vertices, sheep::Vector3::Norm(), sheep::Vector3::Normalized(), sheep::Real, sheep::Vector3::SquareNorm(), sheep::RigidBody::TransformPointToBody(), and sheep::RigidBody::TransformPointToWorld(). Referenced by CancelNormalVelocity(), sheep::Subspace::find_contacts(), sheep::RCTracker::is_inactivated_rc::operator()(), sheep::ContactHandler::resolve_col_contact(), and sheep::RCTracker::ResolveAll().

---

Member Data Documentation

RigidObject* sheep::Contact::m_a

Definition at line 41 of file contact.h. Referenced by CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), sheep::Subspace::find_contacts(), sheep::SWIFTCollisionDetector::FindContacts(), GetNormalDerivative(), sheep::ContactHandler::resolve_col_contact(), sheep::RCTracker::ResolveAll(), and Update().

RigidObject * sheep::Contact::m_b

Definition at line 41 of file contact.h. Referenced by sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), sheep::Subspace::find_contacts(), sheep::SWIFTCollisionDetector::FindContacts(), sheep::ContactHandler::resolve_col_contact(), and sheep::RCTracker::ResolveAll().

Feature sheep::Contact::m_fa

Definition at line 42 of file contact.h. Referenced by sheep::Subspace::find_contacts(), sheep::SWIFTCollisionDetector::FindContacts(), GetNormalDerivative(), and Update().

Feature sheep::Contact::m_fb

Definition at line 42 of file contact.h. Referenced by sheep::Subspace::find_contacts(), sheep::SWIFTCollisionDetector::FindContacts(), GetNormalDerivative(), and Update().

bool sheep::Contact::m_inactivated

Definition at line 51 of file contact.h. Referenced by sheep::RCTracker::is_inactivated_rc::operator()(), and Update().

Vector3 sheep::Contact::m_n

Definition at line 48 of file contact.h. Referenced by CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), GetNormalDerivative(), sheep::ContactHandler::resolve_col_contact(), sheep::RCTracker::ResolveAll(), and Update().

Vector3 sheep::Contact::m_pa

Definition at line 46 of file contact.h. Referenced by CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), GetNormalDerivative(), sheep::ContactHandler::resolve_col_contact(), sheep::RCTracker::ResolveAll(), and Update().

Vector3 sheep::Contact::m_pb

Definition at line 46 of file contact.h. Referenced by CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), sheep::ContactHandler::resolve_col_contact(), sheep::RCTracker::ResolveAll(), and Update().

Vector3 sheep::Contact::m_va

Definition at line 47 of file contact.h. Referenced by CancelNormalVelocity(), sheep::RCTracker::compute_b_vector(), sheep::ContactHandler::resolve_col_contact(), sheep::RCTracker::ResolveAll(), and Update().

Vector3 sheep::Contact::m_vb

Definition at line 47 of file contact.h. Referenced by CancelNormalVelocity(), sheep::RCTracker::compute_b_vector(), sheep::ContactHandler::resolve_col_contact(), sheep::RCTracker::ResolveAll(), and Update().

---

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

• contact.h
• contact.cpp
• contact.inl

---