CompliantContactSubsystem.h File Reference

#include "simbody/internal/common.h"
#include "simbody/internal/ForceSubsystem.h"
#include "simbody/internal/Contact.h"
#include "simbody/internal/ContactGeometry.h"
#include <cassert>

Go to the source code of this file.

Classes
class	SimTK::CompliantContactSubsystem
	This is a force subsystem that implements a compliant contact model to respond to Contact objects as detected by a ContactTrackerSubsystem. More...
class	SimTK::ContactForce
	This is a simple class containing the basic force information for a single contact between deformable surfaces S1 and S2 mounted on rigid bodies B1 and B2. More...
class	SimTK::ContactDetail
	This provides deformed geometry and force details for one element of a contact patch that may be composed of many elements. More...
class	SimTK::ContactPatch
	A ContactPatch is the description of the forces and the deformed shape of the contact surfaces that result from compliant contact interactions. More...
class	SimTK::ContactForceGenerator
	A ContactForceGenerator implements an algorithm for responding to overlaps or potential overlaps between pairs of ContactSurface objects, as detected by a ContactTrackerSubsystem. More...
class	SimTK::ContactForceGenerator::HertzCircular
	This ContactForceGenerator handles contact between non-conforming objects that meet at a point and generate a circular contact patch; those generate a CircularPointContact tracking object. More...
class	SimTK::ContactForceGenerator::HertzElliptical
	This ContactForceGenerator handles contact between non-conforming objects that meet at a point and generate an elliptical contact patch; those generate an EllipticalPointContact tracking object. More...
class	SimTK::ContactForceGenerator::ElasticFoundation
	This ContactForceGenerator handles contact between a TriangleMesh and a variety of other geometric objects, all of which produce a TriangleMeshContact tracking object. More...
class	SimTK::ContactForceGenerator::DoNothing
	This ContactForceGenerator silently does nothing. More...
class	SimTK::ContactForceGenerator::ThrowError
	This ContactForceGenerator throws an error if it is every invoked. More...
Namespaces
namespace	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.
Functions
std::ostream &	SimTK::operator<< (std::ostream &o, const ContactForce &f)
std::ostream &	SimTK::operator<< (std::ostream &o, const ContactDetail &d)