This class performs collision detection for use in contact modeling. More...

#include <GeneralContactSubsystem.h>

Inheritance diagram for SimTK::GeneralContactSubsystem:

Public Member Functions
	GeneralContactSubsystem ()

	GeneralContactSubsystem (MultibodySystem &)

ContactSetIndex	createContactSet ()
	Create a new contact set. More...

int	getNumContactSets () const
	Get the total number of contact sets that have been created. More...

void	addBody (ContactSetIndex index, const MobilizedBody &body, const ContactGeometry &geom, Transform transform)
	Add a body to a contact set. More...

int	getNumBodies (ContactSetIndex set) const
	Get the number of bodies in a contact set. More...

const MobilizedBody &	getBody (ContactSetIndex set, ContactSurfaceIndex index) const
	Get the MobilizedBody in whose reference frame a body is defined. More...

const ContactGeometry &	getBodyGeometry (ContactSetIndex set, ContactSurfaceIndex index) const
	Get the ContactGeometry which defines the shape of a body. More...

ContactGeometry &	updBodyGeometry (ContactSetIndex set, ContactSurfaceIndex index)
	Get a mutable reference to the ContactGeometry which defines the shape of a body. More...

const Transform &	getBodyTransform (ContactSetIndex set, ContactSurfaceIndex index) const
	Get the location and orientation of a body. More...

Transform &	updBodyTransform (ContactSetIndex set, ContactSurfaceIndex index)
	Get a mutable reference to the location and orientation of a body. More...

const Array_< Contact > &	getContacts (const State &state, ContactSetIndex set) const
	Get a list of all contacts between bodies in a contact set. More...

	SimTK_PIMPL_DOWNCAST (GeneralContactSubsystem, Subsystem)

Public Member Functions inherited from SimTK::Subsystem
	Subsystem ()

	Subsystem (const Subsystem &)

Subsystem &	operator= (const Subsystem &)

	~Subsystem ()

const String &	getName () const

const String &	getVersion () const

QIndex	allocateQ (State &, const Vector &qInit) const

UIndex	allocateU (State &, const Vector &uInit) const

ZIndex	allocateZ (State &, const Vector &zInit) const

DiscreteVariableIndex	allocateDiscreteVariable (State &, Stage invalidates, AbstractValue *v) const

DiscreteVariableIndex	allocateAutoUpdateDiscreteVariable (State &, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const

CacheEntryIndex	allocateCacheEntry (const State &, Stage dependsOn, Stage computedBy, AbstractValue *v) const

CacheEntryIndex	allocateCacheEntry (const State &state, Stage g, AbstractValue *v) const

CacheEntryIndex	allocateLazyCacheEntry (const State &state, Stage earliest, AbstractValue *v) const

QErrIndex	allocateQErr (const State &, int nqerr) const

UErrIndex	allocateUErr (const State &, int nuerr) const

UDotErrIndex	allocateUDotErr (const State &, int nudoterr) const

EventTriggerByStageIndex	allocateEventTriggersByStage (const State &, Stage, int ntriggers) const

const Vector &	getQ (const State &) const

const Vector &	getU (const State &) const

const Vector &	getZ (const State &) const

const Vector &	getQDot (const State &) const

const Vector &	getUDot (const State &) const

const Vector &	getZDot (const State &) const

const Vector &	getQDotDot (const State &) const

const Vector &	getQErr (const State &) const

const Vector &	getUErr (const State &) const

const Vector &	getUDotErr (const State &) const

const Vector &	getMultipliers (const State &) const

const Vector &	getEventTriggersByStage (const State &, Stage) const

Vector &	updQ (State &) const

Vector &	updU (State &) const

Vector &	updZ (State &) const

void	setQ (State &s, const Vector &q) const

void	setU (State &s, const Vector &u) const

void	setZ (State &s, const Vector &z) const

Vector &	updQDot (const State &) const

Vector &	updUDot (const State &) const

Vector &	updZDot (const State &) const

Vector &	updQDotDot (const State &) const

Vector &	updQErr (const State &) const

Vector &	updUErr (const State &) const

Vector &	updUDotErr (const State &) const

Vector &	updMultipliers (const State &) const

Vector &	updEventTriggersByStage (const State &, Stage) const

Stage	getStage (const State &) const

const AbstractValue &	getDiscreteVariable (const State &s, DiscreteVariableIndex dx) const

Real	getDiscreteVarLastUpdateTime (const State &s, DiscreteVariableIndex dx) const

CacheEntryIndex	getDiscreteVarUpdateIndex (const State &s, DiscreteVariableIndex dx) const

const AbstractValue &	getDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

bool	isDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

void	markDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVariable (State &, DiscreteVariableIndex) const

const AbstractValue &	getCacheEntry (const State &, CacheEntryIndex) const

AbstractValue &	updCacheEntry (const State &, CacheEntryIndex) const

bool	isCacheValueRealized (const State &, CacheEntryIndex) const

void	markCacheValueRealized (const State &, CacheEntryIndex) const

void	markCacheValueNotRealized (const State &, CacheEntryIndex) const

SystemQIndex	getQStart (const State &) const

int	getNQ (const State &) const

SystemUIndex	getUStart (const State &) const

int	getNU (const State &) const

SystemZIndex	getZStart (const State &) const

int	getNZ (const State &) const

SystemQErrIndex	getQErrStart (const State &) const

int	getNQErr (const State &) const

SystemUErrIndex	getUErrStart (const State &) const

int	getNUErr (const State &) const

SystemUDotErrIndex	getUDotErrStart (const State &) const

int	getNUDotErr (const State &) const

SystemMultiplierIndex	getMultipliersStart (const State &) const

int	getNMultipliers (const State &) const

SystemEventTriggerByStageIndex	getEventTriggerStartByStage (const State &, Stage) const

int	getNEventTriggersByStage (const State &, Stage) const

bool	isInSystem () const

bool	isInSameSystem (const Subsystem &otherSubsystem) const

const System &	getSystem () const

System &	updSystem ()

SubsystemIndex	getMySubsystemIndex () const

bool	isOwnerHandle () const

bool	isEmptyHandle () const

bool	isSameSubsystem (const Subsystem &otherSubsystem) const

bool	subsystemTopologyHasBeenRealized () const

void	invalidateSubsystemTopologyCache () const

MeasureIndex	adoptMeasure (AbstractMeasure &)

AbstractMeasure	getMeasure (MeasureIndex) const

template<class T >
Measure_< T >	getMeasure_ (MeasureIndex mx) const

const Subsystem::Guts &	getSubsystemGuts () const

Subsystem::Guts &	updSubsystemGuts ()

void	adoptSubsystemGuts (Subsystem::Guts *g)

void	setSystem (System &, SubsystemIndex)

	Subsystem (Subsystem::Guts *g)

bool	hasGuts () const

Detailed Description

This class performs collision detection for use in contact modeling.

It manages sets of bodies that can potentially interact with each other. At each time step, it identifies all the contacts between them. It does not directly affect the behavior of the system in any way. Instead, it simply provides a service that can be used by other classes to implement forces, events, contraints, etc. that are based on contacts between bodies.

To use this class, first create a "contact set" by calling createContactSet(). A contact set is a group of bodies which can interact with each other. If you create multiple contact sets, the bodies within each one will be checked for contacts with each other, but bodies in different sets will not interact.

Next, add bodies to the contact set. Each one is represented by a ContactGeometry object that describes its shape, the MoblizedBody it is attached to, and a Transform giving the location of the geometry in the MobilizedBody's reference frame.

Finally, call getContacts() to get a list of all contacts which exist between bodies in a contact set. Each Contact specifies two bodies that overlap, along with a description of the contact point, such as its location and normal vector.

Constructor & Destructor Documentation

SimTK::GeneralContactSubsystem::GeneralContactSubsystem ( )

SimTK::GeneralContactSubsystem::GeneralContactSubsystem ( MultibodySystem & )

explicit

Member Function Documentation

ContactSetIndex SimTK::GeneralContactSubsystem::createContactSet ( )

Create a new contact set.

The return value is an index which can be used to refer to the contact set when calling other methods.

int SimTK::GeneralContactSubsystem::getNumContactSets ( ) const

Get the total number of contact sets that have been created.

void SimTK::GeneralContactSubsystem::addBody	(	ContactSetIndex	index,
		const MobilizedBody &	body,
		const ContactGeometry &	geom,
		Transform	transform
	)

Add a body to a contact set.

Parameters

index	the index of the contact set the body should be added to
body	the MobilizedBody whose reference frame the body is attached to
geom	a ContactGeometry describing the shape of the body
transform	the location and orientation of the ContactGeometry in the MobilizedBody's reference frame

int SimTK::GeneralContactSubsystem::getNumBodies ( ContactSetIndex set ) const

Get the number of bodies in a contact set.

const MobilizedBody& SimTK::GeneralContactSubsystem::getBody	(	ContactSetIndex	set,
		ContactSurfaceIndex	index
	)		const

Get the MobilizedBody in whose reference frame a body is defined.

Parameters

set	the contact set the body belongs to
index	the index of the body within the contact set

const ContactGeometry& SimTK::GeneralContactSubsystem::getBodyGeometry	(	ContactSetIndex	set,
		ContactSurfaceIndex	index
	)		const

Get the ContactGeometry which defines the shape of a body.

Parameters

set	the contact set the body belongs to
index	the index of the body within the contact set

ContactGeometry& SimTK::GeneralContactSubsystem::updBodyGeometry	(	ContactSetIndex	set,
		ContactSurfaceIndex	index
	)

Get a mutable reference to the ContactGeometry which defines the shape of a body.

Parameters

set	the contact set the body belongs to
index	the index of the body within the contact set

const Transform& SimTK::GeneralContactSubsystem::getBodyTransform	(	ContactSetIndex	set,
		ContactSurfaceIndex	index
	)		const

Get the location and orientation of a body.

Parameters

set	the contact set the body belongs to
index	the index of the body within the contact set

Transform& SimTK::GeneralContactSubsystem::updBodyTransform	(	ContactSetIndex	set,
		ContactSurfaceIndex	index
	)

Get a mutable reference to the location and orientation of a body.

Parameters

set	the contact set the body belongs to
index	the index of the body within the contact set

const Array_<Contact>& SimTK::GeneralContactSubsystem::getContacts	(	const State &	state,
		ContactSetIndex	set
	)		const

Get a list of all contacts between bodies in a contact set.

Contacts are calculated at Dynamics stage, so the state must have been realized to at least Dynamics stage. This subsystem is guaranteed to be realized before all ForceSubsystems, however, so a Force may still invoke it to calculate forces based on contacts.

SimTK::GeneralContactSubsystem::SimTK_PIMPL_DOWNCAST	(	GeneralContactSubsystem	,
		Subsystem
	)

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

GeneralContactSubsystem.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation