Collaboration diagram for Contact::ContactObject:

Public Member Functions
void	InitialSetup (ISimObjectCreator *creator)

void	UpdateObjectState (const double T, const double *const X)

int	PointPenetration (const cvec3 &O, const double &r, double &oPen, cvec3 &oInt)

void	PointContactForce (const cvec3 &cPos, const cvec3 &cVel, const double &cPen, const cvec3 &cInt, cvec3 &cFor, cvec3 &cMon)

void	InitialSetup (ISimObjectCreator *creator)

void	UpdateObjectState (const double T, const double *const X)

int	PointPenetration (const cvec3 &O, const double &r, double &oPen, cvec3 &oInt)

void	PointContactForce (const cvec3 &cPos, const cvec3 &cVel, const double &cPen, const cvec3 &cInt, cvec3 &cFor, cvec3 &cMon)

double	PointDistance (const cvec3 &O, const double &r)

Public Attributes
int	numV

cvec3 *	xyzVC

cvec3 *	xyzV

int	numF

cvec3i *	indexF

double	cKne

double	cKte

double	cKnv

double	cMui

double	cMaxP

ISignalPort *	InObjPos

ISignalPort *	InObjQuat
	Input object position.

ISignalPort *	InObjVel
	Input object quaternion.

ISignalPort *	InObjOmega
	Input object velocity.

cvec3	objPos
	Input object angular velocity.

cquat	objQuatL2G

cvec3	objVel

cvec3	objOmega

AABB	objAABB

double	cMaxR

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

Public Member Functions

Public Attributes