Program Listing for File ContactForceManager.h

Program Listing for File ContactForceManager.h#

↰ Return to documentation for file (include/Karana/Collision/ContactForceManager.h)

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#pragmaonce

#include"Karana/Collision/ContactForce.h"
#include"Karana/Frame/ChainedFrameToFrame.h"

namespaceKarana::Collision{
classContactForceManager:publicContactForceBase{
public:
ContactForceManager(std::string_viewname);

staticKarana::Core::ks_ptr<ContactForceManager>create(std::string_viewname);

virtual~ContactForceManager();

virtualvoidapplyForce(constFrameContact&contact,
constkc::ks_ptr<Karana::Dynamics::SubTree>&st)override;

virtualKarana::Math::SpatialVector
computeForce(constFrameContact&contact,
constKarana::Core::ks_ptr<Karana::Dynamics::Node>&nd_1,
constKarana::Core::ks_ptr<Karana::Dynamics::Node>&nd_2)override;

virtualvoidresetLastNodePair()override;

constKarana::Core::ks_ptr<ContactForceBase>&
getDelegate(constFrameContact&contact)const;

constKarana::Core::ks_ptr<ContactForceBase>&getDelegate()const;

voidsetDelegate(constKarana::Core::ks_ptr<ContactForceBase>&force=nullptr);

constKarana::Core::ks_ptr<ContactForceBase>&
getDelegate(constKarana::Frame::Frame&frame1,
constKarana::Frame::Frame&frame2,
boolstrict=false)const;

voidsetDelegate(constKarana::Frame::Frame&frame1,
constKarana::Frame::Frame&frame2,
constKarana::Core::ks_ptr<ContactForceBase>&force=nullptr);

voidclearDelegates();

private:
std::unique_ptr<classContactForceManagerImpl>_impl;
};
}//namespaceKarana::Collision