Simbody
3.5
|
TODO: not implemented yet. More...
Public Member Functions | |
StateLimitedFriction () | |
virtual | ~StateLimitedFriction () |
virtual bool | disable (State &state) const =0 |
Disable the friction constraints if they were enabled. | |
virtual bool | enable (State &state) const =0 |
Enable the friction constraints if they were disabled. | |
virtual Real | getNormalForceMagnitude (const State &state) const =0 |
Return the current value of the state-dependent normal force magnitude that limits this friction element. | |
virtual Real | calcEffectiveCOF (const State &state, Real defaultTransitionSpeed, Real slipSpeed) const =0 |
virtual Real | getSlipSpeed (const State &state) const =0 |
virtual Vec3 | getPositionInfo (const State &state) const |
TODO: kludge needed because we're misusing existing constraints. | |
virtual void | setInstanceParameter (State &state, const Vec3 &pos) const |
TODO: kludge to set instance parameters on internal constraints; this should be the same Vec3 you got from getPositionInfo(). | |
void | setMyIndex (StateLimitedFrictionIndex fx) |
StateLimitedFrictionIndex | getMyIndex () const |
TODO: not implemented yet.
SimTK::StateLimitedFriction::StateLimitedFriction | ( | ) | [inline] |
virtual SimTK::StateLimitedFriction::~StateLimitedFriction | ( | ) | [inline, virtual] |
virtual bool SimTK::StateLimitedFriction::disable | ( | State & | state | ) | const [pure virtual] |
Disable the friction constraints if they were enabled.
Return true if we actually had to disable something.
virtual bool SimTK::StateLimitedFriction::enable | ( | State & | state | ) | const [pure virtual] |
Enable the friction constraints if they were disabled.
Return true if we actually had to enable something.
virtual Real SimTK::StateLimitedFriction::getNormalForceMagnitude | ( | const State & | state | ) | const [pure virtual] |
Return the current value of the state-dependent normal force magnitude that limits this friction element.
virtual Real SimTK::StateLimitedFriction::calcEffectiveCOF | ( | const State & | state, |
Real | defaultTransitionSpeed, | ||
Real | slipSpeed | ||
) | const [pure virtual] |
virtual Real SimTK::StateLimitedFriction::getSlipSpeed | ( | const State & | state | ) | const [pure virtual] |
virtual Vec3 SimTK::StateLimitedFriction::getPositionInfo | ( | const State & | state | ) | const [inline, virtual] |
TODO: kludge needed because we're misusing existing constraints.
This must be called while Stage::Position is valid.
virtual void SimTK::StateLimitedFriction::setInstanceParameter | ( | State & | state, |
const Vec3 & | pos | ||
) | const [inline, virtual] |
TODO: kludge to set instance parameters on internal constraints; this should be the same Vec3 you got from getPositionInfo().
void SimTK::StateLimitedFriction::setMyIndex | ( | StateLimitedFrictionIndex | fx | ) | [inline] |
StateLimitedFrictionIndex SimTK::StateLimitedFriction::getMyIndex | ( | ) | const [inline] |