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java.lang.Objectmaspack.spatialmotion.ContactInfo
public class ContactInfo
Field Summary | |
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double |
mu
Friction coefficient |
double |
normalVelocityLimit
velocity limit along the contact normal |
Vector3d |
nrm
contact normal, in body coordinates (and normalized) |
Twist |
otherBodyVelocity
velocity of the other body associated with this contact, in the coordinates of this body. |
Point3d |
pnt
contact point, in body coordinates |
Constructor Summary | |
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ContactInfo()
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ContactInfo(ContactInfo contact)
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ContactInfo(Point3d pnt,
Vector3d nrm)
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Method Summary | |
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double |
getMu()
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double |
getNormalVelocityLimit()
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void |
set(ContactInfo c)
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void |
set(Point3d pnt,
Vector3d nrm)
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void |
setMu(double mu)
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void |
setNormalVelocityLimit(double v)
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java.lang.String |
toString()
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java.lang.String |
toString(NumberFormat fmt)
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java.lang.String |
toString(java.lang.String fmtStr)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public Point3d pnt
public Vector3d nrm
public double mu
public double normalVelocityLimit
public Twist otherBodyVelocity
Constructor Detail |
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public ContactInfo()
public ContactInfo(Point3d pnt, Vector3d nrm)
public ContactInfo(ContactInfo contact)
Method Detail |
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public void set(Point3d pnt, Vector3d nrm)
public void setMu(double mu)
public double getMu()
public void setNormalVelocityLimit(double v)
public double getNormalVelocityLimit()
public void set(ContactInfo c)
public java.lang.String toString()
toString
in class java.lang.Object
public java.lang.String toString(java.lang.String fmtStr)
public java.lang.String toString(NumberFormat fmt)
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