KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
ContactPoint2D Struct Reference

A 2D 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 Vector2 &f) const
 Returns true if the force lies within the friction cone.
 
Real minFriction (const Vector2 &f) const
 
void quadraticForm (Matrix2 &A, Vector2 &b, Real &c) const
 Returns the quadratic form of the constraint f'*A*f + b*f + c >= 0.
 

Public Attributes

Vector2 x
 
Vector2 n
 
Real kFriction
 

Detailed Description

A 2D contact point, i.e. a position, normal, and friction coefficient.

Member Function Documentation

Real ContactPoint2D::minFriction ( const Vector2 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().


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