SimTK::BrokenContact Class Reference

This subclass of Contact represents a pair of contact surfaces that were in contact (meaning within cutoff range) but have now gone out of range. More...

#include <Contact.h>

Inheritance diagram for SimTK::BrokenContact:

List of all members.

Public Member Functions
	BrokenContact (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, const Transform &X_S1S2, Real separation)
	Create a BrokenContact object.
Real	getSeparation () const
	Get the separation (> cutoff >= 0) between the two surfaces at the time we decided the contact had been broken.
Static Public Member Functions
static bool	isInstance (const Contact &contact)
	Determine whether a Contact object is a BrokenContact.
static ContactTypeId	classTypeId ()
	Obtain the unique small-integer id for the BrokenContact class.

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Detailed Description

This subclass of Contact represents a pair of contact surfaces that were in contact (meaning within cutoff range) but have now gone out of range.

This is the last time we will use this ContactId. The only parameters here are the surfaces and the separation distance (> cutoff). If someone cares, the separation distance can be used to estimate the time at which contact was broken.

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Constructor & Destructor Documentation

SimTK::BrokenContact::BrokenContact	(	ContactSurfaceIndex	surf1,
		ContactSurfaceIndex	surf2,
		const Transform &	X_S1S2,
		Real	separation
	)

Create a BrokenContact object.

Parameters:

surf1	The index of the first surface involved in the contact.
surf2	The index of the second surface involved in the contact.
X_S1S2	The surface-to-surface relative transform.
separation	The minimum distance between the surfaces, with separation > cutoff >= 0 always.

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Member Function Documentation

Real SimTK::BrokenContact::getSeparation

(

)

const

Get the separation (> cutoff >= 0) between the two surfaces at the time we decided the contact had been broken.

Note that the sign convention is opposite from depth which is negative when separated.

static bool SimTK::BrokenContact::isInstance

(

const Contact &

contact

)

[static]

Determine whether a Contact object is a BrokenContact.

static ContactTypeId SimTK::BrokenContact::classTypeId

(

)

[static]

Obtain the unique small-integer id for the BrokenContact class.

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The documentation for this class was generated from the following file:

• Contact.h