Inheritance diagram for CoRiBoDynamics::TrawlCableCollisionManager:

Collaboration diagram for CoRiBoDynamics::TrawlCableCollisionManager:

Classes
struct	CableCollisionManagerProperties

struct	CableSegment

struct	ElementContact

Public Member Functions
	TrawlCableCollisionManager (ConstraintSolver *solver, double timeConstant)

void	AddCableSegment (const CableCollisionManagerProperties &properties)

void	AddMainCableSegment (const CableCollisionManagerProperties &properties)

double	getFrequencyCoefficient ()

void	setStartTimeCollision (double time)

std::vector< ElementContact > *	GetContactPoints ()

Public Member Functions inherited from CoRiBoDynamics::CollisionManager
	CollisionManager (ConstraintSolver *solver, double timeConstant)

int	AddCapsule (double radius, double height, double contactStiffness, double contactDamping, double frictionCoefficient, int index)

int	AddSphere (double radius, double contactStiffness, double contactDamping, double frictionCoefficient, int index)

int	AddTorus (double majorRadius, double minorRadius, double contactStiffness, double contactDamping, double frictionCoefficient, int index)

int	AddChamfer (double majorRadius, double minorRadius, double contactStiffness, double contactDamping, double frictionCoefficient, int index)

int	AddPlate (double lengthX, double lengthY, double thickness, double contactStiffness, double contactDamping, double frictionCoefficient, int index)

int	addExternalSphere (double radius, const double Position, const double Velocity, const double Orientation, const double AngularVelocity, double contactStiffness, double contactDamping, double frictionCoefficient)

int	addExternalCapsule (double length, double radius, const double Position, const double Velocity, const double Orientation, const double AngularVelocity, double contactStiffness, double contactDamping, double frictionCoefficient)

int	addExternalToroid (double majorRadius, double minorRadius, const double Position, const double Velocity, const double Orientation, const double AngularVelocity, double contactStiffness, double contactDamping, double frictionCoefficient)

int	addExternalChamfer (double majorRadius, double minorRadius, const double Position, const double Velocity, const double Orientation, const double AngularVelocity, double contactStiffness, double contactDamping, double frictionCoefficient)

int	addExternalPlate (double lengthX, double lengthY, double thickness, const double Position, const double Velocity, const double Orientation, const double AngularVelocity, double contactStiffness, double contactDamping, double frictionCoefficient)

void	updateExternalElement (int index, const double Position, const double Velocity, const double Orientation, const double AngularVelocity)

vec6	getExternalObjectReactionForce (int index)

vec6	getExternalObjectReactionForce (ExternalObject &external_object)

vec6	getInternalObjectReactionForce (InternalObject &internal_object)

virtual void	ComputeConstraints (const double T, const double *const X)

void	setSpacePartitionOrigo (double x, double y, double z)

void	setSpacePartitionBlockSize (double length)

Public Member Functions inherited from CoRiBoDynamics::ConstraintSet
	ConstraintSet (ConstraintSolver *solver)

virtual void	ComputeConstraints (const double T, const double *const X)=0

Protected Member Functions
void	ComputeConstraints (const double T, const double *const X)

void	CollisionTest (InternalObject objectA, InternalObject objectB, const double *const X, ElementContact &contact)

Protected Member Functions inherited from CoRiBoDynamics::CollisionManager
void	CollisionTest (InternalObject objectA, InternalObject objectB, const double *const X)
	list of all internal objects in this collision manager

void	CollisionTest (ExternalObject ExtObj, InternalObject IntObj, const double *const X)

double	ObjectDistance (GeometricObject shapeA, GeometricObject shapeB, GeometryTools::MinDistanceInfo &result)

bool	BoundingSphereRejectionTest (GeometricObject sphereA, GeometricObject sphereB)

bool	OBB_BoundingSphereRejectionTest (GeometricObject box, GeometricObject sphere)

Protected Member Functions inherited from CoRiBoDynamics::ConstraintSet
const std::vector< RigidElement * > &	ElementVector ()

void	addConstraintResultantForce (int element, const vec6 &Force)

const vec3	Acceleration (int element)

const vec3	AngularAcceleration (int element)

const vec6	SecondDerivatives (int element)

void	addMatrix (int i, int j, const mat6 &M)

Protected Attributes
double	m_startTimeCollision

std::vector< CableSegment >	m_CableSegments

std::vector< ElementContact >	m_ContactPoints

Protected Attributes inherited from CoRiBoDynamics::CollisionManager
std::vector< ExternalObject, Eigen::aligned_allocator< ExternalObject > >	m_ExternalObjects

std::vector< InternalObject, Eigen::aligned_allocator< InternalObject > >	m_InternalObjects
	list of all external objects in this collision manager

DataStructures::SpacePartitioner	m_CollisionPartition

ObjectFactoryStack< contact_matrix_index_pair >	m_external_contact

double	m_timeConstant

Additional Inherited Members
Public Types inherited from CoRiBoDynamics::CollisionManager
enum	ShapeType { SPHERE =0 , CAPSULE =1 , CHAMFER =2 , BOX =3 , TOROID =4 , PLATE =5 }

Member Function Documentation

◆ ComputeConstraints()

void CoRiBoDynamics::TrawlCableCollisionManager::ComputeConstraints	(	const double	T,
		const double *const	X
	)

protectedvirtual

Computes and returns the constraint system matrix for the current states (T and X). Adds constraint forces.

Reimplemented from CoRiBoDynamics::CollisionManager.

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

reloadrepos/fhsim_extras/src/trawl_mooring_interaction/TrawlCableConstraintSets.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ ComputeConstraints()