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Simbody
3.3
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Simbody
3.3
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This ContactTracker handles contacts between two smooth, convex objects by using their implicit functions. More...
#include <ContactTracker.h>
Inheritance diagram for SimTK::ContactTracker::ConvexImplicitPair:Public Member Functions | |
| ConvexImplicitPair (ContactGeometryTypeId type1, ContactGeometryTypeId type2) | |
| virtual | ~ConvexImplicitPair () |
| virtual bool | trackContact (const Contact &priorStatus, const Transform &X_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const ContactGeometry &surface2, Real cutoff, Contact ¤tStatus) const |
| The ContactTrackerSubsystem will invoke this method for any pair of contact surfaces that is already being tracked, or for which the static broad phase analysis indicated that they might be in contact now. More... | |
| virtual bool | predictContact (const Contact &priorStatus, const Transform &X_GS1, const SpatialVec &V_GS1, const SpatialVec &A_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const SpatialVec &V_GS2, const SpatialVec &A_GS2, const ContactGeometry &surface2, Real cutoff, Real intervalOfInterest, Contact &predictedStatus) const |
| The ContactTrackerSubsystem will invoke this method for any tracked pair of contact surfaces that is still not in contact after trackContact() looked at it, or any untracked pair for which the dynamic broad phase indicated that they might be in contact within the interval of interest. More... | |
| virtual bool | initializeContact (const Transform &X_GS1, const SpatialVec &V_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const SpatialVec &V_GS2, const ContactGeometry &surface2, Real cutoff, Real intervalOfInterest, Contact &contactStatus) const |
| At the beginning of a simulation we will have no past information to help disambiguate tricky contact situations. More... | |
| Public Member Functions inherited from SimTK::ContactTracker | |
| ContactTracker (ContactGeometryTypeId typeOfSurface1, ContactGeometryTypeId typeOfSurface2) | |
| Base class constructor for use by the concrete classes. More... | |
| const std::pair < ContactGeometryTypeId, ContactGeometryTypeId > & | getContactGeometryTypeIds () const |
| Return the pair of contact geometry type ids handled by this tracker, in the order that they must be presented to the tracker's methods. More... | |
| virtual | ~ContactTracker () |
Additional Inherited Members | |
| Static Public Member Functions inherited from SimTK::ContactTracker | |
| static bool | refineImplicitPair (const ContactGeometry &shapeA, Vec3 &pointP_A, const ContactGeometry &shapeB, Vec3 &pointQ_B, const Transform &X_AB, Real accuracyRequested, Real &accuracyAchieved, int &numIterations) |
| Given two shapes for which implicit functions are known, and a rough-guess contact point for each shape (each measured and expressed in its own surface's frame), refine those contact points to obtain the nearest pair that satisfies contact conditions to a requested accuracy. More... | |
| static Vec6 | findImplicitPairError (const ContactGeometry &shapeA, const Vec3 &pointP, const ContactGeometry &shapeB, const Vec3 &pointQ, const Transform &X_AB) |
| Calculate the error function described in refineImplicitPair(). More... | |
| static Mat66 | calcImplicitPairJacobian (const ContactGeometry &shapeA, const Vec3 &pointP, const ContactGeometry &shapeB, const Vec3 &pointQ, const Transform &X_AB, const Vec6 &err0) |
| Calculate the partial derivatives of the findImplicitPairError() error function with respect to the locations of the two points in their own surface's frame. More... | |
| static bool | estimateConvexImplicitPairContactUsingMPR (const ContactGeometry &shapeA, const ContactGeometry &shapeB, const Transform &X_AB, Vec3 &pointP_A, Vec3 &pointQ_B, UnitVec3 &dirInA, int &numIterations) |
| Use Minkowski Portal Refinement (XenoCollide method by G. More... | |
This ContactTracker handles contacts between two smooth, convex objects by using their implicit functions.
Create one of these for each possible pair that you want handled this way.
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The ContactTrackerSubsystem will invoke this method for any pair of contact surfaces that is already being tracked, or for which the static broad phase analysis indicated that they might be in contact now.
Only position information is available. Note that the arguments and Contact object surfaces must be ordered by geometry type id as required by this tracker.
Implements SimTK::ContactTracker.
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The ContactTrackerSubsystem will invoke this method for any tracked pair of contact surfaces that is still not in contact after trackContact() looked at it, or any untracked pair for which the dynamic broad phase indicated that they might be in contact within the interval of interest.
Position, velocity, and acceleration information may be used. Ordering must be correct as discussed for trackContact().
Implements SimTK::ContactTracker.
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At the beginning of a simulation we will have no past information to help disambiguate tricky contact situations.
This method may use current position and velocity information in heuristics for guessing the contact status between the indicated pair of surfaces. Ordering must be correct as discussed for trackContact().
Implements SimTK::ContactTracker.
1.8.6 
