class cdRecord

bookkeepping class used by dynoContactor

Public Fields

link* l

the link (if any) for the object

cdPolyhedronObstacle* o

the obstacle (if any) for the object

dynoContactor::contactType type

the type of contact

userContactCB* contactCB

user callback function for computing contact conditions

void* contactCBdata

user data for contactCB

collisionObjectCB* objectCB

user callback function for creating/updating contact object (eg.

void* objectCBdata

user data for objectCB;

synObject* owner

object that created the cdRecord

double muS

static friction

double muD

dynamic friction

double kp

stiffness

double kv

damping

Public Methods

cdRecord(link* L, dynoContactor::contactType Type, double MuS, double MuD, userContactCB* CB = NULL, void* UserData = NULL, collisionObjectCB* coCB = NULL, void* collisionCBdata = NULL)

constructor

cdRecord(cdPolyhedronObstacle* O, double MuS, double MuD)

constructor

Documentation

bookkeepping class used by dynoContactor

link* l

the link (if any) for the object

cdPolyhedronObstacle* o

the obstacle (if any) for the object

dynoContactor::contactType type

the type of contact

userContactCB* contactCB

user callback function for computing contact conditions

void* contactCBdata

user data for contactCB

collisionObjectCB* objectCB

user callback function for creating/updating contact object (eg. creating a dynoObject for the contact)

void* objectCBdata

user data for objectCB;

synObject* owner

object that created the cdRecord

double muS

static friction

double muD

dynamic friction

double kp

stiffness

double kv

damping

cdRecord(link* L, dynoContactor::contactType Type, double MuS, double MuD, userContactCB* CB = NULL, void* UserData = NULL, collisionObjectCB* coCB = NULL, void* collisionCBdata = NULL)

constructor

cdRecord(cdPolyhedronObstacle* O, double MuS, double MuD)

constructor

This class has no child classes.

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