ContactPoint Struct Reference

A single contact point, i.e. a position, normal, and friction coefficient. More...

#include <Contact.h>

Public Member Functions
Real	frictionConeHalfAngle () const
void	setfrictionConeHalfAngle (Real phi)
bool	isValidForce (const Vector3 &f) const
	Returns true if the force lies within the friction cone.
Real	minFriction (const Vector3 &f) const
void	quadraticForm (Matrix3 &A, Vector3 &b, Real &c) const
	Returns the quadratic form of the FC constraint f'*A*f + b*f + c >= 0.

Public Attributes
Vector3	x
Vector3	n
Real	kFriction

Detailed Description

A single contact point, i.e. a position, normal, and friction coefficient.

Member Function Documentation

Real ContactPoint::minFriction

(

const Vector3 &

f

)

const

Returns the min friction coefficient value required for f to be produced (for normal held constant). The result is negative for invalid forces.

References Math::dot().

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

• Contact.h
• Contact.cpp