ContactNode Class Reference

#include <physics.h>

Collaboration diagram for ContactNode:

[legend]List of all members.

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Detailed Description

Node in contact directed acyclic graph.

Author:

Mattias Jansson (mattias@realityrift.com)

Public Types
enum	CONTACTMODE { COLLISION, CONTACT, SHOCKPROPAGATION }
Public Member Functions
	ContactNode (RigidBody *pkBody)
virtual	~ContactNode ()
bool	Solve (CONTACTMODE eMode, unsigned int uiPass, unsigned int uiNumPasses)
void	ResetVisited ()
void	AddContact (ContactNode *pkParent, ContactSet *pkSet)
void	Clear ()
Public Attributes
RigidBody *	m_pkBody
std::vector< ContactNode * >	m_vpkParents
std::vector< ContactSet * >	m_vpkContactSets
std::vector< Matrix * >	m_vpkCollisionMatrix
std::vector< Matrix * >	m_vpkInvCollisionMatrix
std::vector< ContactNode * >	m_vpkChildren
bool	m_bVisited
bool	m_bFree

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Member Enumeration Documentation

enum CONTACTMODE

Contact resolution mode Enumeration values: COLLISION  Collisions CONTACT  Contacts SHOCKPROPAGATION  Shock propagation

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Constructor & Destructor Documentation

ContactNode (  RigidBody *  pkBody  )

Parameters: pkBody  Rigidbody object

virtual ~ContactNode (   )  [virtual]

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Member Function Documentation

bool Solve (  CONTACTMODE  eMode, unsigned int  uiPass, unsigned int  uiNumPasses )

Sweep the contact DAG and solve contacts Parameters: eAction  Contact mode uiPass  Current pass uiNumPasses  Number of passes

void ResetVisited (   )

Reset visited flag

void AddContact (  ContactNode *  pkParent, ContactSet *  pkSet )

Add a contact Parameters: pkParent  Parent DAG node pkSet  Contact set

void Clear (   )

Clear all data

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Member Data Documentation

RigidBody* m_pkBody

Rigid body

std::vector< ContactNode* > m_vpkParents

Parent nodes for each contact

std::vector< ContactSet* > m_vpkContactSets

Contact sets for each parent contact

std::vector< Matrix* > m_vpkCollisionMatrix

Collision matrices for each parent contact's points

std::vector< Matrix* > m_vpkInvCollisionMatrix

Inverse collision matrices for each parent contact's points

std::vector< ContactNode* > m_vpkChildren

Children

bool m_bVisited

Visited flag

bool m_bFree

Free (no parent node contact)

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

• physics.h

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