ContactInfo (Artisynth API documentation)

public class ContactInfo
extends java.lang.Object

Fields
Modifier and Type	Field and Description
`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

Constructors
Constructor and Description
`ContactInfo()`
`ContactInfo(ContactInfo contact)`
`ContactInfo(Point3d pnt, Vector3d nrm)`

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`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

public ContactInfo(Point3d pnt,
                   Vector3d nrm)

public ContactInfo(ContactInfo contact)

public void set(Point3d pnt,
                Vector3d nrm)

public void setNormalVelocityLimit(double v)

public double getNormalVelocityLimit()

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

public java.lang.String toString(NumberFormat fmt)

Class ContactInfo