A contact point with custom force / wrench constraints. More...

#include <Contact.h>

Public Member Functions
	CustomContactPoint (const ContactPoint &cp, int numFCEdges=4)

void	set (const ContactPoint &cp, int numFCEdges=4)
	Copies from a ContactPoint, and uses a polyhedral friction cone approximation.

void	setRobustnessFactor (Real offset)
	Offsets the friction cone by the given offset.

void	addNormalForceBounds (Real minimum, Real maximum)
	Bounds the minimum / maximum normal force.

void	calculateForceMatrix (int numFCEdges=4)
	Re-calculates the force matrix from the values of x, n, kFriction.

void	calculateWrenchMatrix (int numFCEdges=4)

int	numForceVariables () const

int	numConstraints () const
	Returns the number of constraints.

Detailed Description

A contact point with custom force / wrench constraints.

Custom constraints are in the form A*f <= b for forces or A*w <= b for wrenches.

Member Function Documentation

void CustomContactPoint::calculateWrenchMatrix ( int numFCEdges = 4 )

Re-calculates the wrench matrix from the values of x, n, kFriction OR the force matrix if it exists

int CustomContactPoint::numForceVariables ( ) const

Returns the number of force degrees of freedom: 1 means frictionless, 3 means frictional contact, 6 means wrench

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