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Class for Frictionless contact (only needs a plane equation) More...
#include <SurgSim/Physics/ContactConstraintData.h>
Public Member Functions | |
ContactConstraintData () | |
Default constructor. More... | |
virtual | ~ContactConstraintData () |
Destructor. More... | |
void | setPlaneEquation (const SurgSim::Math::Vector3d &n, double d) |
Sets the plane equation of the frictionless contact. More... | |
const SurgSim::Math::Vector3d & | getNormal () const |
Gets the plane normal vector. More... | |
double | getDistance () const |
Gets the plane distance to the origin. More... | |
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ConstraintData () | |
Default Constructor. More... | |
virtual | ~ConstraintData () |
Destructor. More... | |
Private Attributes | |
SurgSim::Math::Vector3d | m_normal |
Plane equation normal vector (normalized vector) More... | |
double | m_distance |
Plane equation distance to origin. More... | |
Class for Frictionless contact (only needs a plane equation)
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inline |
Default constructor.
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inlinevirtual |
Destructor.
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Gets the plane distance to the origin.
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Gets the plane normal vector.
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inline |
Sets the plane equation of the frictionless contact.
n | The plane normal (normalized vector) |
d | The plane distance to the origin |
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private |
Plane equation distance to origin.
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private |
Plane equation normal vector (normalized vector)