maspack.spatialmotion
Class ContactInfo

java.lang.Object
  extended by maspack.spatialmotion.ContactInfo

public class ContactInfo
extends java.lang.Object


Field Summary
 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
ContactInfo()
           
ContactInfo(ContactInfo contact)
           
ContactInfo(Point3d pnt, Vector3d nrm)
           
 
Method Summary
 double getMu()
           
 double getNormalVelocityLimit()
           
 void set(ContactInfo c)
           
 void set(Point3d pnt, Vector3d nrm)
           
 void setMu(double mu)
           
 void setNormalVelocityLimit(double v)
           
 java.lang.String toString()
           
 java.lang.String toString(NumberFormat fmt)
           
 java.lang.String toString(java.lang.String fmtStr)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

pnt

public Point3d pnt
contact point, in body coordinates


nrm

public Vector3d nrm
contact normal, in body coordinates (and normalized)


mu

public double mu
Friction coefficient


normalVelocityLimit

public double normalVelocityLimit
velocity limit along the contact normal


otherBodyVelocity

public Twist otherBodyVelocity
velocity of the other body associated with this contact, in the coordinates of this body.

Constructor Detail

ContactInfo

public ContactInfo()

ContactInfo

public ContactInfo(Point3d pnt,
                   Vector3d nrm)

ContactInfo

public ContactInfo(ContactInfo contact)
Method Detail

set

public void set(Point3d pnt,
                Vector3d nrm)

setMu

public void setMu(double mu)

getMu

public double getMu()

setNormalVelocityLimit

public void setNormalVelocityLimit(double v)

getNormalVelocityLimit

public double getNormalVelocityLimit()

set

public void set(ContactInfo c)

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

toString

public java.lang.String toString(java.lang.String fmtStr)

toString

public java.lang.String toString(NumberFormat fmt)