Marine systems simulation
Public Member Functions | Public Attributes | Protected Attributes | List of all members
ShipContact Class Reference
+ Inheritance diagram for ShipContact:
+ Collaboration diagram for ShipContact:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ShipContact (ISimObjectCreator *creator, CoRiBoDynamics::ConstraintSolver *solver, double beta)
 
void Update (const double *P, const double *Q, const double *V, const double *W)
 
void ComputeConstraints (const double T, const double *const X)
 
void AddCollisionCheckInterface (CollisionCheckInterface *i)
 
- 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
 

Public Attributes

double m_Force [3]
 
double m_Torque [3]
 

Protected Attributes

std::vector< CollisionCheckInterface * > m_collision_interfaces
 
Eigen::Quaterniond m_capsule_rotation_offset
 
Eigen::Vector3d m_capsule_offset
 
Eigen::Vector3d m_offset_arm_global
 
double m_Q [4]
 
double m_W [3]
 
double m_P [3]
 
double m_V [3]
 
ExternalObject m_capsule
 
- 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
}
 
- 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)
 

Member Function Documentation

◆ ComputeConstraints()

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

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: