Program Listing for File ContactForce.h

Program Listing for File ContactForce.h#

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

/*
*Copyright(c)2024-2026KaranaDynamicsPtyLtd.Allrightsreserved.
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*THELICENSEDMATERIALSAREPROVIDED"ASIS"WITHOUTWARRANTYOFANYKIND.
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#pragmaonce

#include"Karana/Collision/FrameCollider.h"
#include"Karana/SOADyn/Node.h"
#include"Karana/SOADyn/SubTree.h"

namespaceKarana::Collision{

namespacekc=Karana::Core;
namespacekm=Karana::Math;
namespacekd=Karana::Dynamics;

classContactForceBase:publickc::Base{
public:
/*@briefContactForceBaseclassconstructor.
*
*@paramnameNamefortheContactForceBase.
*@paramcontainerThecontainertoaddtheBasetoo.
*Ifnoneisspecified,thedefaultsingletoncontainerwillbeused.
*/
usingkc::Base::Base;

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

virtualkm::SpatialVectorcomputeForce(constFrameContact&contact,
constkc::ks_ptr<kd::Node>&nd_1,
constkc::ks_ptr<kd::Node>&nd_2)=0;

usingNodePair=std::pair<kc::ks_ptr<kd::Node>,kc::ks_ptr<kd::Node>>;

constNodePair&getLastNodePair()const;

virtualvoidresetLastNodePair();

protected:
NodePair_last_node_pair={nullptr,nullptr};
};
}//namespaceKarana::Collision