Class ContactForceBase#
Defined in File ContactForce.h
Inheritance Relationships#
Base Type#
public Karana::Core::Base(Class Base)
Derived Types#
public Karana::Collision::ContactForceManager(Class ContactForceManager)public Karana::Collision::HuntCrossley(Class HuntCrossley)
Class Documentation#
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class ContactForceBase : public Karana::Core::Base#
Base class for all contact force models.
See Collision dynamics for more discussion on contact and collision dynamics.
Subclassed by Karana::Collision::ContactForceManager, Karana::Collision::HuntCrossley
Public Types
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using NodePair = std::pair<kc::ks_ptr<kd::Node>, kc::ks_ptr<kd::Node>>#
The pair of nodes used when computing the contact force.
Public Functions
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virtual void applyForce(const FrameContact &contact, const kc::ks_ptr<Karana::Dynamics::SubTree> &st)#
Apply the contact force for the associated contact.
This first calls computeForce to get the contact force. Then, it applies it to frames if those frames belong to a body.
- Parameters:
contact – The contact to apply the force for.
st – The SubTree we are computing forces for.
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virtual km::SpatialVector computeForce(const FrameContact &contact, const kc::ks_ptr<kd::Node> &nd_1, const kc::ks_ptr<kd::Node> &nd_2) = 0#
Compute the contact force for the associated contact.
- Parameters:
contact – The contact to compute the force for.
nd_1 – The contact node associated with object 1. This node is located at contact.location_1 and the frame of the node is that of frame_1.
nd_2 – The contact node associated with object 2. This node is located at contact.location_2 and the frame of the node is that of frame_2.
- Returns:
The contact force on the frame_1 object at location_1 expressed in frame_1 coordinates.
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const NodePair &getLastNodePair() const#
Get the pair of nodes from the most recent contact.
- Returns:
The node pair (may be null)
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virtual void resetLastNodePair()#
Reset the most recent contact node pair to nullptr.
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Base(std::string_view name, const ks_ptr<BaseContainer> &container = nullptr)#
Base class constructor.
- Parameters:
name – Name for the base class.
container – The container to add the Base too. If none is specified, the default singleton container will be used.
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using NodePair = std::pair<kc::ks_ptr<kd::Node>, kc::ks_ptr<kd::Node>>#