Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
WheelContactFeature Struct Reference

A wheel contact feature. More...

#include <ContactFeature.h>

Inheritance diagram for WheelContactFeature:
ContactFeatureBase

Public Member Functions

virtual Type GetType () const
 
Vector3 GetCenter () const
 Returns the center of the wheel.
 
Real GetRadius () const
 Returns the radius of the wheel.
 
void GetHold (const Vector3 &x, const Vector3 &n, Real theta, Hold &) const
 Makes the hold that matches the center of the wheel to x. More...
 
void GetFixedHold (const Vector3 &x, const Vector3 &n, Real theta, Real roll, Hold &) const
 Makes the fixed-orientation hold that matches the center of the wheel to x, and making an rolling angle of roll. More...
 

Public Attributes

Line3D axis
 
Vector3 p
 
Real width
 
- Public Attributes inherited from ContactFeatureBase
int link
 
string name
 
Real weight
 weight for picking this feature
 

Additional Inherited Members

- Public Types inherited from ContactFeatureBase
enum  Type {
  Point, Edge, Face, MultipleFaces,
  Wheel
}
 

Detailed Description

A wheel contact feature.

Member Function Documentation

void WheelContactFeature::GetFixedHold ( const Vector3 &  x,
const Vector3 &  n,
Real  theta,
Real  roll,
Hold  
) const

Makes the fixed-orientation hold that matches the center of the wheel to x, and making an rolling angle of roll.

First orients the wheel to be tangent to x at the normal n. Then, rotates the wheel about angle theta around the normal. Finally, fixes the wheel with the rolling angle roll.

Normals are set to n, friction is set to 0.

void WheelContactFeature::GetHold ( const Vector3 &  x,
const Vector3 &  n,
Real  theta,
Hold  
) const

Makes the hold that matches the center of the wheel to x.

First orients the wheel to be tangent to x at the normal n. Then, rotates the wheel about angle theta around the normal. Allows the wheel to roll about the axis

Normals are set to n, friction is set to 0.


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