Creates rigid body contact and frictional constraints given collision data then adds them to the rigid body model, if rigid objects use differing models, one-way contacts are added to both. If only one rigid object is given, one-ways are used. More...
#include <imstkRigidBodyCH.h>
Inheritance diagram for imstk::RigidBodyCH:
Collaboration diagram for imstk::RigidBodyCH:
Public Member Functions | |
| void | setInputRigidObjectA (std::shared_ptr< RigidObject2 > rbdObjA) |
| void | setInputRigidObjectB (std::shared_ptr< RigidObject2 > rbdObjB) |
| Second input rigid object is optional. | |
| void | setInputCollidingObjectB (std::shared_ptr< CollidingObject > colObjB) |
| Second input colliding object is optional. | |
| std::shared_ptr< RigidObject2 > | getRigidObjA () |
| std::shared_ptr< RigidObject2 > | getRigidObjB () |
| void | setBaumgarteStabilization (double beta) |
| Baumgarte stabilization term, scales the constraint scalars The higher it is, the faster constraint violations are dealt with (bigger steps), but could introduce erroneous velocity. | |
| const double | getBeta () const |
| void | setFriction (double frictionalCoefficient) |
| const double | getFriction () const |
| void | setUseFriction (bool useFriction) |
| const double | getUseFriction () const |
 Public Member Functions inherited from imstk::CollisionHandling | |
| virtual const std::string | getTypeName () const =0 |
| void | setInputObjectA (std::shared_ptr< CollidingObject > objectA) |
| Set the input objects. | |
| void | setInputObjectB (std::shared_ptr< CollidingObject > objectB) |
| std::shared_ptr< CollidingObject > | getInputObjectA () const |
| Get the input objects. | |
| std::shared_ptr< CollidingObject > | getInputObjectB () const |
| virtual std::shared_ptr< Geometry > | getHandlingGeometryA () |
| Get the geometry used for handling defaults to the collision geometry. | |
| virtual std::shared_ptr< Geometry > | getHandlingGeometryB () |
| void | setInputCollisionData (std::shared_ptr< CollisionData > collisionData) |
| Set/Get the input collision data used for handling. | |
| void | setInputCollisionData (std::shared_ptr< std::vector< std::shared_ptr< CollisionData >>> collisionVectorData) |
| Set/Get the input collision data used for handling This supports collating information from multiple collision detect algorithms. | |
| std::shared_ptr< const CollisionData > | getInputCollisionData () const |
| void | update () |
| Handle the input collision data. | |
Protected Member Functions | |
| virtual void | handle (const std::vector< CollisionElement > &elementsA, const std::vector< CollisionElement > &elementsB) override |
| Add rigid body constraints according to contacts. | |
| void | handleRbdRbdTwoWay (std::shared_ptr< RigidObject2 > rbdObjA, std::shared_ptr< RigidObject2 > rbdObjB, const std::vector< CollisionElement > &elementsA, const std::vector< CollisionElement > &elementsB) |
| Handle rigid vs rigid two-way edge-edge, vertex-triangle, etc. | |
| void | handleRbdStaticOneWay (std::shared_ptr< RigidObject2 > rbdObj, std::shared_ptr< CollidingObject > colObj, const std::vector< CollisionElement > &elementsA, const std::vector< CollisionElement > &elementsB) |
| Handle rigid vs static one-way edge-edge, vertex-triangle, etc. | |
| virtual void | addConstraint (std::shared_ptr< RigidObject2 > rbdObj, const Vec3d &contactPt, const Vec3d &contactNormal, const double contactDepth) |
| Add constraint for the rigid body given contact. | |
| virtual void | addConstraint (std::shared_ptr< RigidObject2 > rbdObjA, std::shared_ptr< RigidObject2 > rbdObjB, const Vec3d &contactPt, const Vec3d &contactNormal, const double contactDepth) |
| Add two-way constraint for the rigid bodies given contact. | |
| Protected Member Functions inherited from imstk::CollisionHandling | |
| void | updateCollisionData (std::shared_ptr< const CollisionData > data) |
Protected Attributes | |
| double | m_beta = 0.0 |
| double | m_frictionalCoefficient = 2.0 |
| bool | m_useFriction = false |
| Protected Attributes inherited from imstk::CollisionHandling | |
| std::shared_ptr< CollidingObject > | m_inputObjectA |
| std::shared_ptr< CollidingObject > | m_inputObjectB |
| std::shared_ptr< const CollisionData > | m_colData |
| Collision data. | |
| std::shared_ptr< std::vector< std::shared_ptr< CollisionData > > > | m_colVectorData |
| Expansion to allow collision detection to return multiple types of collision data. | |
| std::function< void()> | m_updateFunction = []() {} |
| bool | m_clearData = true |
| bool | m_processConstraints = true |
Detailed Description
Creates rigid body contact and frictional constraints given collision data then adds them to the rigid body model, if rigid objects use differing models, one-way contacts are added to both. If only one rigid object is given, one-ways are used.
Definition at line 27 of file imstkRigidBodyCH.h.
The documentation for this class was generated from the following files:
- Source/CollisionHandling/imstkRigidBodyCH.h
- Source/CollisionHandling/imstkRigidBodyCH.cpp
