Simbody  3.5
SimTK::BrickHalfSpaceContact Class Reference

This subclass of Contact is used when one ContactGeometry object is a half plane and the other is a Brick. More...

+ Inheritance diagram for SimTK::BrickHalfSpaceContact:

List of all members.

Public Member Functions

 BrickHalfSpaceContact (ContactSurfaceIndex halfSpace, ContactSurfaceIndex brick, const Transform &X_HB, int lowestVertex, Real depth)
 Create a BrickHalfSpaceContact object.
int getLowestVertex () const
 Get the vertex index (0-7) of the brick's vertex that is closest to or most penetrated into the halfspace.
Real getDepth () const
 Get the penetration depth (>0) or separation distance (<0) from the brick's lowest vertex to the halfspace surface.

Static Public Member Functions

static bool isInstance (const Contact &contact)
 Determine whether a Contact object is a BrickHalfSpaceContact.
static const
BrickHalfSpaceContact
getAs (const Contact &contact)
 Recast a brick-halfspace contact given as a generic Contact object to a const reference to a concrete BrickHalfSpaceContact object.
static BrickHalfSpaceContactupdAs (Contact &contact)
 Recast a brick-halfspace contact given as a generic Contact object to a writable reference to a concrete BrickHalfSpaceContact object.
static ContactTypeId classTypeId ()
 Obtain the unique small-integer id for the BrickHalfSpaceContact class.

Detailed Description

This subclass of Contact is used when one ContactGeometry object is a half plane and the other is a Brick.

This is a warmup for general convex mesh contact.


Constructor & Destructor Documentation

SimTK::BrickHalfSpaceContact::BrickHalfSpaceContact ( ContactSurfaceIndex  halfSpace,
ContactSurfaceIndex  brick,
const Transform X_HB,
int  lowestVertex,
Real  depth 
)

Create a BrickHalfSpaceContact object.

Parameters:
halfSpacethe surface index of the halfspace
brickthe surface index of the brick
X_HBthe transform giving the brick's frame measured and expressed in the halfspace's frame
lowestVertexwhich vertex of the brick is closest to (if separated) or furthest in (if penetrating) the halfspace
depththe penetration depth (if depth>0) or separation distance between the lowestVertex and halfspace surface

Member Function Documentation

Get the vertex index (0-7) of the brick's vertex that is closest to or most penetrated into the halfspace.

Get the penetration depth (>0) or separation distance (<0) from the brick's lowest vertex to the halfspace surface.

static bool SimTK::BrickHalfSpaceContact::isInstance ( const Contact contact) [static]

Determine whether a Contact object is a BrickHalfSpaceContact.

static const BrickHalfSpaceContact& SimTK::BrickHalfSpaceContact::getAs ( const Contact contact) [inline, static]

Recast a brick-halfspace contact given as a generic Contact object to a const reference to a concrete BrickHalfSpaceContact object.

static BrickHalfSpaceContact& SimTK::BrickHalfSpaceContact::updAs ( Contact contact) [inline, static]

Recast a brick-halfspace contact given as a generic Contact object to a writable reference to a concrete BrickHalfSpaceContact object.

Obtain the unique small-integer id for the BrickHalfSpaceContact class.


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