StepCore::CollisionSolver Class Reference

#include <collisionsolver.h>

Inheritance diagram for StepCore::CollisionSolver:

Public Types
enum	{ InternalError = Solver::CollisionError }

Public Member Functions
	CollisionSolver ()
virtual	~CollisionSolver ()
virtual void	bodyAdded (BodyList &, Body *)
virtual void	bodyRemoved (BodyList &, Body *)
virtual int	checkContacts (BodyList &bodies, bool collisions=false, int *count=NULL)=0
virtual void	getContactsInfo (ConstraintsInfo &info, bool collisions=false)=0
double	localError () const
virtual void	resetCaches ()
virtual void	setToleranceAbs (double toleranceAbs)
virtual int	solveCollisions (BodyList &bodies)=0
double	toleranceAbs () const
Public Member Functions inherited from StepCore::Object
	Object (const QString &name=QString())
virtual	~Object ()
const QString &	name () const
void	setName (const QString &name)

Protected Attributes
double	_localError
double	_toleranceAbs
Protected Attributes inherited from StepCore::Object
QString	_name

Detailed Description

Collision solver interface.

Provides generic interface for collision solvers.

Definition at line 85 of file collisionsolver.h.

Member Enumeration Documentation

anonymous enum

Enumerator
InternalError

Definition at line 132 of file collisionsolver.h.

Constructor & Destructor Documentation

StepCore::CollisionSolver::CollisionSolver ( )

inline

Definition at line 90 of file collisionsolver.h.

virtual StepCore::CollisionSolver::~CollisionSolver ( )

inlinevirtual

Definition at line 91 of file collisionsolver.h.

Member Function Documentation

virtual void StepCore::CollisionSolver::bodyAdded ( BodyList &  , Body *    )

inlinevirtual

Reimplemented in StepCore::GJKCollisionSolver.

Definition at line 128 of file collisionsolver.h.

virtual void StepCore::CollisionSolver::bodyRemoved ( BodyList &  , Body *    )

inlinevirtual

Reimplemented in StepCore::GJKCollisionSolver.

Definition at line 129 of file collisionsolver.h.

virtual int StepCore::CollisionSolver::checkContacts ( BodyList &  bodies, bool  collisions = false, int *  count = NULL  )

pure virtual

Check (and update) state of the contact.

Parameters

contact

contact to check (only body0 and body1 fields must be set)

Returns

state of the contact (equals to contact->state)Check and count contacts between several bodies

Parameters

bodies	list of bodies to check
count	number of contacts

Returns

maximum contact state (i.e. maximum value of Contact::state)

Implemented in StepCore::GJKCollisionSolver.

virtual void StepCore::CollisionSolver::getContactsInfo ( ConstraintsInfo &  info, bool  collisions = false  )

pure virtual

Fill the constraint info structure with the contacts computed by checkContacts()

Parameters

info	ConstraintsInfo structure to fill

Implemented in StepCore::GJKCollisionSolver.

double StepCore::CollisionSolver::localError ( ) const

inline

Get error estimation from last step.

Definition at line 98 of file collisionsolver.h.

virtual void StepCore::CollisionSolver::resetCaches ( )

inlinevirtual

Reset internal caches of collision information.

Todo:

do it automatically by checking the cache

Reimplemented in StepCore::GJKCollisionSolver.

Definition at line 126 of file collisionsolver.h.

virtual void StepCore::CollisionSolver::setToleranceAbs ( double  toleranceAbs )

inlinevirtual

Set absolute allowed tolerance.

Definition at line 96 of file collisionsolver.h.

virtual int StepCore::CollisionSolver::solveCollisions ( BodyList &  bodies )

pure virtual

Solve the collisions between bodies.

Implemented in StepCore::GJKCollisionSolver.

double StepCore::CollisionSolver::toleranceAbs ( ) const

inline

Get absolute allowed tolerance.

Definition at line 94 of file collisionsolver.h.

Member Data Documentation

double StepCore::CollisionSolver::_localError

protected

Definition at line 139 of file collisionsolver.h.

double StepCore::CollisionSolver::_toleranceAbs

protected

Definition at line 137 of file collisionsolver.h.

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

• collisionsolver.h