SurgSim::Physics::SlidingConstraintData Class Reference

Class for Frictionless sliding constraint (stores two planes, the intersection of which, is the sliding direction) More...

#include <SurgSim/Physics/SlidingConstraintData.h>

Inheritance diagram for SurgSim::Physics::SlidingConstraintData:

Public Member Functions
	SlidingConstraintData ()
	Default constructor. More...
	SlidingConstraintData (const SurgSim::Math::Vector3d &point, const SurgSim::Math::Vector3d &direction)
	Constructor. More...
virtual	~SlidingConstraintData ()
	Destructor. More...
void	setSlidingDirection (const SurgSim::Math::Vector3d &point, const SurgSim::Math::Vector3d &direction)
	Calculate the two plane equations based on the given sliding direction. More...
void	setFrictionCoefficient (double mu)
	Set the friction coefficient for a frictional sliding constraint. More...
double	getFrictionCoefficient () const
const std::array< Math::Vector3d, 2 > &	getNormals () const
const Math::RigidTransform3d	getPose ()
	/return The pose of constraint More...
const Math::Vector3d &	getTangent () const
const double	getDistanceTangent () const
Public Member Functions inherited from SurgSim::Physics::ConstraintData
	ConstraintData ()
	Default Constructor. More...
virtual	~ConstraintData ()
	Destructor. More...

Private Attributes
std::array< Math::Vector3d, 2 >	m_normals
	The normals of the two planes. More...
Math::Vector3d	m_point
	The point of constraint. More...
Math::Vector3d	m_slidingDirection
	The sliding direction (intersection of the two planes). More...
Math::Vector3d	m_tangent
	The tangent of the two planes. More...
double	m_distanceTangent
	The distance from origin of the tangential plane. More...
double	m_mu
	Friction coefficient for frictional constraint (unused for frictionless constraint). More...

Detailed Description

Class for Frictionless sliding constraint (stores two planes, the intersection of which, is the sliding direction)

Constructor & Destructor Documentation

SlidingConstraintData() [1/2]

SurgSim::Physics::SlidingConstraintData::SlidingConstraintData

(

)

Default constructor.

SlidingConstraintData() [2/2]

SurgSim::Physics::SlidingConstraintData::SlidingConstraintData	(	const SurgSim::Math::Vector3d &	point,
		const SurgSim::Math::Vector3d &	direction
	)

Constructor.

Parameters

point	The point through which the sliding direction vector passes.
direction	The sliding direction vector.

~SlidingConstraintData()

SurgSim::Physics::SlidingConstraintData::~SlidingConstraintData ( )

virtual

Destructor.

Member Function Documentation

getDistanceTangent()

const double SurgSim::Physics::SlidingConstraintData::getDistanceTangent

(

)

const

Returns

The distance from origin of the planes direction (tangent).

getFrictionCoefficient()

double SurgSim::Physics::SlidingConstraintData::getFrictionCoefficient

(

)

const

Returns

The friction coefficient (default is 0.5)

Note

The friction coefficient is only used for frictional constraint, it is discarded othersise.

getNormals()

const std::array< Math::Vector3d, 2 > & SurgSim::Physics::SlidingConstraintData::getNormals

(

)

const

Returns

The normals of the two planes.

getPose()

const Math::RigidTransform3d SurgSim::Physics::SlidingConstraintData::getPose

(

)

/return The pose of constraint

getTangent()

const Math::Vector3d & SurgSim::Physics::SlidingConstraintData::getTangent

(

)

const

Returns

The tangent (direction defined by the two planes).

setFrictionCoefficient()

void SurgSim::Physics::SlidingConstraintData::setFrictionCoefficient

(

double

mu

)

Set the friction coefficient for a frictional sliding constraint.

Parameters

mu	The friction coefficient

setSlidingDirection()

void SurgSim::Physics::SlidingConstraintData::setSlidingDirection	(	const SurgSim::Math::Vector3d &	point,
		const SurgSim::Math::Vector3d &	direction
	)

Calculate the two plane equations based on the given sliding direction.

Parameters

point	The point through which the sliding direction vector passes.
direction	The sliding direction vector.

Member Data Documentation

m_distanceTangent

double SurgSim::Physics::SlidingConstraintData::m_distanceTangent

private

The distance from origin of the tangential plane.

m_mu

double SurgSim::Physics::SlidingConstraintData::m_mu

private

Friction coefficient for frictional constraint (unused for frictionless constraint).

m_normals

std::array<Math::Vector3d, 2> SurgSim::Physics::SlidingConstraintData::m_normals

private

The normals of the two planes.

m_point

Math::Vector3d SurgSim::Physics::SlidingConstraintData::m_point

private

The point of constraint.

m_slidingDirection

Math::Vector3d SurgSim::Physics::SlidingConstraintData::m_slidingDirection

private

The sliding direction (intersection of the two planes).

m_tangent

Math::Vector3d SurgSim::Physics::SlidingConstraintData::m_tangent

private

The tangent of the two planes.

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

• SurgSim/Physics/SlidingConstraintData.h
• SurgSim/Physics/SlidingConstraintData.cpp