Simbody
3.5
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Public Member Functions | |
UniContactRT () | |
bool | hasFriction () const |
Public Attributes | |
UnilateralContactIndex | m_ucx |
MultiplierIndex | m_Nk |
Real | m_sign |
Array_< MultiplierIndex > | m_Fk |
ContactType | m_type |
Real | m_effCOR |
Real | m_effMu |
UniCond | m_contactCond |
FricCond | m_frictionCond |
Vec2 | m_slipVel |
Real | m_slipMag |
Vec3 | m_impulse |
SimTK::ImpulseSolver::UniContactRT::UniContactRT | ( | ) | [inline] |
bool SimTK::ImpulseSolver::UniContactRT::hasFriction | ( | ) | const [inline] |
UnilateralContactIndex SimTK::ImpulseSolver::UniContactRT::m_ucx |