Program Listing for File HuntCrossley.h

Program Listing for File HuntCrossley.h#

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

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#pragmaonce

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

namespaceKarana::Collision{

classHuntCrossley:publicContactForceBase{
public:
usingContactForceBase::ContactForceBase;

statickc::ks_ptr<HuntCrossley>create(std::string_viewname);

km::SpatialVectorcomputeForce(constFrameContact&contact,
constkc::ks_ptr<kd::Node>&nd_1,
constkc::ks_ptr<kd::Node>&nd_2)final;

structHuntCrossleyParams{
doublekp=km::notReadyNaN;

doublekc=km::notReadyNaN;

doublen=km::notReadyNaN;

doublemu=km::notReadyNaN;

doublelinear_region_tol=km::notReadyNaN;
};

structHuntCrossleyScratch{
doublepenetration=km::notReadyNaN;

km::Vec3linvel;

km::Vec3f;
};

HuntCrossleyParamsparams;

HuntCrossleyScratchscratch;

boolisReady()constfinal;

std::string
dumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options=nullptr)constoverride;

private:
double_getHuntCrossleyNormalForce(constKarana::Math::Vec3&fext_dir)const;

Karana::Math::Vec3_getCoulombFrictionTangentForce(constKarana::Math::Vec3&fext_dir,
doublenormal_fmag)const;
};
}//namespaceKarana::Collision