frcsim::ContactSolver Class Reference

Solves contact constraints applying impulses to resolve interpenetration and calculate friction. More...

#include <contact_solver.hpp>

Public Member Functions
virtual	~ContactSolver ()=default
virtual void	SolveContacts (RigidBody *bodyA, RigidBody *bodyB, const CollisionManifold &manifold, double dt)=0
	Modifies velocities to resolve contact and penetration.

Detailed Description

Solves contact constraints applying impulses to resolve interpenetration and calculate friction.

Constructor & Destructor Documentation

~ContactSolver()

virtual frcsim::ContactSolver::~ContactSolver ( )

virtualdefault

Member Function Documentation

SolveContacts()

virtual void frcsim::ContactSolver::SolveContacts ( RigidBody * bodyA, RigidBody * bodyB, const CollisionManifold & manifold, double dt )

pure virtual

Modifies velocities to resolve contact and penetration.

Parameters

bodyA	The first rigid body in the manifold.
bodyB	The second rigid body in the manifold.
manifold	The collision points calculated between the two bodies.
dt	The simulation timestep in seconds.

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

• src/main/driver/include/frcsim/contact/contact_solver.hpp