MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChReportContactCallback Class Reference

#include <CHcontactContainerBase.h>

List of all members.

Public Member Functions
virtual bool	ReportContactCallback (const ChVector<> &pA, const ChVector<> &pB, const ChMatrix33<> &plane_coord, const double &distance, const float &mfriction, const ChVector<> &react_forces, const ChVector<> &react_torques, collision::ChCollisionModel *modA, collision::ChCollisionModel *modB)=0

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Detailed Description

Class to be used as a callback interface for some user defined action to be taken for each contact (already added to the container, maybe with already computed forces). The user should implement an inherited class and implement a custom ReportContactCallback() function.

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Member Function Documentation

virtual bool chrono::ChReportContactCallback::ReportContactCallback	(	const ChVector<> &	pA,
		const ChVector<> &	pB,
		const ChMatrix33<> &	plane_coord,
		const double &	distance,
		const float &	mfriction,
		const ChVector<> &	react_forces,
		const ChVector<> &	react_torques,
		collision::ChCollisionModel *	modA,
		collision::ChCollisionModel *	modB
	)			[pure virtual]

Callback, used to report contact points already added to the container. This must be implemented by a child class of ChReportContactCallback. If returns false, the contact scanning will be stopped.

Parameters:

pA	get contact pA
pB	get contact pB
plane_coord	get contact plane coordsystem (A column 'X' is contact normal)
distance	get contact distance
mfriction	get friction info
react_forces	get react.forces (if already computed). In coordsystem 'plane_coord'
react_torques	get react.torques, if rolling friction (if already computed).
modA	get model A (note: some containers may not support it and could be zero!)
modB	get model B (note: some containers may not support it and could be zero!)

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CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen