taoCNode Class Reference
[Dynamics]

Contact node class

This provides a base node class for other node involving collision. More...

#include <taoCNode.h>

Inheritance diagram for taoCNode:


Coefficients of friction
where `v` is velocity, `a` is acceleration, `y` is impulse, and `f` is force at the contact point. Note: : ()_n and ()_t indicate the normal and tangential components of (*) respectively.
virtual void	setCOF_grip (deFloat c)
	`cofg` : coefficient of grip friction when `v != 0` and `y != 0` : `f_g = - sign(v_t) * cofg * y_n`
virtual void	setCOF_viscous (deFloat c)
	`cofv` : coefficient of viscous friction when `v != 0` : `f_v = - v_t * cofv`
virtual void	setCOF_static (deFloat c)
	`cofs` : coefficient of static friction when `v == 0` and `a != 0` : `f_s = - sign(a_t) * cofs * f_n`
virtual void	setCOF_dynamic (deFloat c)
	`cofd` : coefficient of dynamic friction when `v != 0` : `f_d = - sign(v_t) * cofd * f_n`
virtual deFloat	effectiveMass (const deVector3 Pie, const deVector3 Ui)
virtual void	linearVelocity (deVector3 Vie, const deVector3 Pie)
virtual void	linearAcceleration (deVector3 Aie, const deVector3 Pie)
virtual void	impulse (const deVector3 Pie, const deVector3 Yie)
	computes new velocity given impulse
virtual void	impulseDist (const deVector3 Pie, const deVector3 Yie)
	computes new position given pseudo impulse
virtual void	force (const deVector3 Pie, const deVector3 Fie)
	computes new force given force
virtual deInt	impact1 (const deVector3 Pie, const deVector3 Ui, const deFloat cor2, const deFloat cofg2)
	computes new velocity and force given pos, vel, acc
virtual deInt	impact2 (taoCNode ni, const deVector3 Pie, const deVector3 Ui, taoCNode nj, const deVector3 Pje, const deVector3 Uj)
	This method computes impulse/force and changes velocity/friction between two colliding nodes, ni and nj.
virtual deInt	penetration1 (const deVector3 Pie, const deVector3 Ui, const deVector3 *pdist, const deFloat dt)
	This method computes impulse and changes position/orientation using `impulseDist()`.
Public Member Functions
	taoCNode ()
virtual	~taoCNode ()
virtual deFrame *	frameGlobal ()=0
	global frame for the dynamics computation
virtual void	getFrameGraphics (deFrame *Fg)=0
	global frame for graphics display
virtual void	setID (const deInt id)
virtual deInt	getID ()
virtual void	setIsFixed (const deInt f)
virtual deInt	getIsFixed ()
virtual deFloat	getCOR ()
virtual deFloat	getCOF_grip ()
virtual deFloat	getCOF_viscous ()
virtual deFloat	getCOF_static ()
virtual deFloat	getCOF_dynamic ()
virtual void	setCOR (deFloat c)
	coefficient of restitution

Detailed Description

Contact node class

This provides a base node class for other node involving collision.

See also:: taoDNode, taoNode, taoNodeRB, taoNodePS

Constructor & Destructor Documentation

taoCNode::taoCNode ( ) [inline]

virtual taoCNode::~taoCNode ( ) [inline, virtual]

Member Function Documentation

virtual deFloat taoCNode::effectiveMass ( const deVector3 * Pie,

const deVector3 * Ui

) [inline, virtual]

virtual void taoCNode::force ( const deVector3 * Pie,

const deVector3 * Fie

) [inline, virtual]

computes new force given force
This method replaces the accumulated force with the given force.
Remarks:
replaces the internal force with a new force

Precondition:
A, F

Postcondition:
F

Pie - contact point expressed in local frame.

Fie - force at the contact point expressed in local frame.
Note:
this method replaces the internal force in the node.

Reimplemented in taoNode.

virtual deFrame* taoCNode::frameGlobal ( ) [pure virtual]

global frame for the dynamics computation

Note:
for taoNodeRB, this is the center of mass frame.
for taoNode, this is the same frame getFrameGraphics()

Implemented in taoNode, and taoNodeRoot.

virtual deFloat taoCNode::getCOF_dynamic ( ) [inline, virtual]

virtual deFloat taoCNode::getCOF_grip ( ) [inline, virtual]

virtual deFloat taoCNode::getCOF_static ( ) [inline, virtual]

virtual deFloat taoCNode::getCOF_viscous ( ) [inline, virtual]

virtual deFloat taoCNode::getCOR ( ) [inline, virtual]

virtual void taoCNode::getFrameGraphics ( deFrame * Fg ) [pure virtual]

global frame for graphics display

Note:
for taoNodeRB, this is the graphics origin frame without the offset.
for taoNodeRB, setFrameGraphics() should be used to set this frame.
for taoNode, this is the same frame as frameGlobal()

Return values:

Fg is filled with the frame info for graphics sync.

Implemented in taoNode, and taoNodeRoot.

virtual deInt taoCNode::getID ( ) [inline, virtual]

virtual deInt taoCNode::getIsFixed ( ) [inline, virtual]

deInt taoCNode::impact1 ( const deVector3 * Pie,

const deVector3 * Ui,

const deFloat cor2,

const deFloat cofg2

) [virtual]

computes new velocity and force given pos, vel, acc

Remarks:
do not use ddQ after this call, replaces the internal force to the new force

Precondition:
T, Q, V, dQ, A

Postcondition:
V, dQ, F

Pie - contact point expressed in local frame.

Ui - unit contact direction vector expressed in local frame (outward normal vector)

cor2 - coefficient of restitution of the other collision node.

cof2 - coefficient of grip friction of the other collision node.
Note:
this method is assuming a node is colliding with a non-moving node.

deInt taoCNode::impact2 ( taoCNode * ni,

const deVector3 * Pie,

const deVector3 * Ui,

taoCNode * nj,

const deVector3 * Pje,

const deVector3 * Uj

) [virtual]

This method computes impulse/force and changes velocity/friction between two colliding nodes, ni and nj.

Pie - contact point expressed in frame i : Pie = ^iP_e - ^iP_i

Pje - contact point expressed in frame j : Pje = ^jP_e - ^jP_j

Ui - unit contact direction vector expressed in frame i : Ui = (^iP_j - ^iP_i)/|^iP_j - ^iP_i|

Uj - Ui expressed in frame j
Note:
this method should be used for two moving nodes.

virtual void taoCNode::impulse ( const deVector3 * Pie,

const deVector3 * Yie

) [inline, virtual]

computes new velocity given impulse
This method changes velocity instantaneously by applying the given impulse.
Remarks:
do not use ddQ after this call

Precondition:
T, Q, V, dQ, Y

Postcondition:
V, dQ

Pie - contact point expressed in local frame.

Yie - impulse at the contact point expressed in local frame.

Reimplemented in taoNode.

virtual void taoCNode::impulseDist ( const deVector3 * Pie,

const deVector3 * Yie

) [inline, virtual]

computes new position given pseudo impulse
This method changes position and orientation instantaneously by applying the given pseudo impulse.

Pie - contact point expressed in local frame.

Yie - pseudo impulse at the contact point expressed in local frame.

Reimplemented in taoNode.

virtual void taoCNode::linearAcceleration ( deVector3 * Aie,

const deVector3 * Pie

) [inline, virtual]

Reimplemented in taoNode.

virtual void taoCNode::linearVelocity ( deVector3 * Vie,

const deVector3 * Pie

) [inline, virtual]

Reimplemented in taoNode.

deInt taoCNode::penetration1 ( const deVector3 * Pie,

const deVector3 * Ui,

const deVector3 * pdist,

const deFloat dt

) [virtual]

This method computes impulse and changes position/orientation using impulseDist().

Pie - contact point expressed in local frame.

Ui - unit contact direction vector expressed in local frame (outward normal vector).

pdist - penetration distance vector : pdist = P_o - P_i

dt - integration time step.
Note:
this method is assuming a node is colliding with a non-moving node.

virtual void taoCNode::setCOF_dynamic ( deFloat c ) [inline, virtual]

cofd : coefficient of dynamic friction when v != 0 : f_d = - sign(v_t) * cofd * f_n

virtual void taoCNode::setCOF_grip ( deFloat c ) [inline, virtual]

cofg : coefficient of grip friction when v != 0 and y != 0 : f_g = - sign(v_t) * cofg * y_n

virtual void taoCNode::setCOF_static ( deFloat c ) [inline, virtual]

cofs : coefficient of static friction when v == 0 and a != 0 : f_s = - sign(a_t) * cofs * f_n

virtual void taoCNode::setCOF_viscous ( deFloat c ) [inline, virtual]

cofv : coefficient of viscous friction when v != 0 : f_v = - v_t * cofv

virtual void taoCNode::setCOR ( deFloat c ) [inline, virtual]

coefficient of restitution

virtual void taoCNode::setID ( const deInt id ) [inline, virtual]

virtual void taoCNode::setIsFixed ( const deInt f ) [inline, virtual]

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

Generated on Sun Apr 9 22:12:45 2006 for TAO by

1.4.6-NO

taoCNode Class Reference [Dynamics]

Coefficients of friction

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

taoCNode Class Reference
[Dynamics]