Class ParticleRigidBodyContactConstraint

• Defined in File Constraints.h

Class Documentation

class ParticleRigidBodyContactConstraint

Public Functions

inline ParticleRigidBodyContactConstraint()

inline ~ParticleRigidBodyContactConstraint()

inline virtual int &getTypeId() const

bool initConstraint(SimulationModel &model, const unsigned int particleIndex, const unsigned int rbIndex, const Vector3r &cp1, const Vector3r &cp2, const Vector3r &normal, const Real dist, const Real restitutionCoeff, const Real stiffness, const Real frictionCoeff)

virtual bool solveVelocityConstraint(SimulationModel &model, const unsigned int iter)

Public Members

std::array<unsigned int, 2> m_bodies

indices of the linked bodies

Real m_stiffness

Real m_frictionCoeff

Real m_sum_impulses

Eigen::Matrix<Real, 3, 5, Eigen::DontAlign> m_constraintInfo

Public Static Attributes

static int TYPE_ID = IDFactory::getId()