A hard rigid body constraint to prevent intersection. More...
#include <imstkRbdContactConstraint.h>
Inheritance diagram for imstk::RbdContactConstraint:
Collaboration diagram for imstk::RbdContactConstraint:
Public Member Functions | |
| RbdContactConstraint (std::shared_ptr< RigidBody > obj1, std::shared_ptr< RigidBody > obj2, const Vec3d &contactN, const Vec3d &contactPt, const double contactDepth, const double beta=0.05, const Side side=Side::AB) | |
| IMSTK_TYPE_NAME (RbdContactConstraint) | |
| void | compute (double dt) override |
| Compute constraint jacobian. | |
 Public Member Functions inherited from imstk::RbdConstraint | |
| virtual const std::string | getTypeName () const =0 |
Additional Inherited Members | |
| Public Types inherited from imstk::RbdConstraint | |
| enum | Side { A, B, AB } |
| Public Attributes inherited from imstk::RbdConstraint | |
| Eigen::Matrix< double, 3, 4 > | J = Eigen::Matrix<double, 3, 4>::Zero() |
| Jacobian, "vanish" to zero. | |
| double | vu = 0.0 |
| Bauhmgarte stabilization term. | |
| double | range [2] = { 0.0, std::numeric_limits<double>::max() } |
| std::shared_ptr< RigidBody > | m_obj1 = nullptr |
| std::shared_ptr< RigidBody > | m_obj2 = nullptr |
| Side | m_side = Side::AB |
| Protected Member Functions inherited from imstk::RbdConstraint | |
| RbdConstraint (std::shared_ptr< RigidBody > rbd1, std::shared_ptr< RigidBody > rbd2, const Side side) | |
Detailed Description
A hard rigid body constraint to prevent intersection.
Definition at line 19 of file imstkRbdContactConstraint.h.
The documentation for this class was generated from the following files:
- Source/Constraint/RigidBodyConstraints/imstkRbdContactConstraint.h
- Source/Constraint/RigidBodyConstraints/imstkRbdContactConstraint.cpp
