Detailed Description

Contact between rigid bodies.

The Contact class is the base class for all types of contacts between rigid bodies in the simulation system. Contacts between rigid bodies are classified depending on the relative velocity between the touching rigid bodies:

\( v_{rel} \) > 0: separating contact
\( v_{rel} \) = 0: resting contact
\( v_{rel} \) < 0: colliding contact
(in order to classify the contact, pe::collisionThreshold is used as tolerance level).

#include <Contact.h>

Public Types
enum	ContactType { colliding = 0, resting = 1, separating = 2 }
	Classification of contacts. More...

Public Member Functions
Constructors
	Contact (GeomID g1, GeomID g2, const Vec3 &gpos, const Vec3 &normal, real_t dist)
	Contact constructor for a vertex/face contact. More...

Get functions
bool	isPenetrating () const
	Checks if the two contacting rigid bodies are penetrating each other. More...

bool	isContacting (ConstBodyID body) const
	Returns whether the given rigid body is involved in this contact. More...

id_t	getID () const
	Returns the ID of the contact. More...

size_t	getIndex () const

GeomID	getBody1 () const
	Returns the first constrained rigid body. More...

GeomID	getBody2 () const
	Returns the second constrained rigid body. More...

const Vec3 &	getPosition () const
	Returns the global position of the contact. More...

const Vec3 &	getNormal () const
	Returns the global normal of the contact. More...

real_t	getDistance () const
	Returns the derivative of the normal vector. More...

ContactType	getType () const
	Returns the type of the contact. More...

real_t	getNormalRelVel () const
	Calculation of the normal relative velocity between the two contacting rigid bodies. More...

const Vec3	getRelVel () const
	Calculation of the relative velocity between the two contacting rigid bodies. More...

real_t	getNormalRelForce () const

Protected Attributes
Member variables
id_t	id_
	User-specific contact ID. More...

GeomID	b1_
	The first contacting rigid body. More...

GeomID	b2_
	The second contacting rigid body. More...

Vec3	gpos_
	The global position of the contact. More...

Vec3	normal_
	Normal of the contact. More...

Vec3	e1_
	Edge direction of the colliding edge of body 1. More...

Vec3	e2_
	Edge direction of the colliding edge of body 2. More...

real_t	dist_
	Distance between the surfaces of the contacting rigid bodies. More...

Member Enumeration Documentation

◆ ContactType

enum walberla::pe::Contact::ContactType

Classification of contacts.

Contacts between rigid bodies are classified depending on the relative velocity between the touching rigid bodies:

\( v_{rel} \) > 0: separating contact
\( v_{rel} \) = 0: resting contact
\( v_{rel} \) < 0: colliding contact
(in order to classify the contact, pe::collisionThreshold is used as tolerance level).

Enumerator
colliding	Colliding contacts (vrel < 0).
resting	Resting contacts (vrel = 0).
separating	Separating contacts (vrel > 0).

Constructor & Destructor Documentation

◆ Contact()

walberla::pe::Contact::Contact	(	GeomID	g1,
		GeomID	g2,
		const Vec3 &	gpos,
		const Vec3 &	normal,
		real_t	dist
	)

Contact constructor for a vertex/face contact.

Parameters

g1	The first contacting geometric primitive.
g2	The second contacting geometric primitive.
gpos	The global position of the contact.
normal	The global normal of the contact (running from body 2 to body 1).
dist	The distance between the surfaces of the contacting rigid bodies.

Member Function Documentation

◆ getBody1()

GeomID walberla::pe::Contact::getBody1 ( ) const

inline

Returns the first constrained rigid body.

Returns: The first constrained rigid body.

◆ getBody2()

GeomID walberla::pe::Contact::getBody2 ( ) const

inline

Returns the second constrained rigid body.

Returns: The second constrained rigid body.

◆ getDistance()

real_t walberla::pe::Contact::getDistance ( ) const

inline

Returns the derivative of the normal vector.

Returns: Derivative of the normal vector.

Returns the distance between the surfaces of the contacting rigid bodies.

Returns: Distance between the surfaces of the contacting rigid bodies.

◆ getID()

id_t walberla::pe::Contact::getID ( ) const

inline

Returns the ID of the contact.

Returns: The contact ID.

◆ getIndex()

size_t walberla::pe::Contact::getIndex ( ) const

inline

◆ getNormal()

const Vec3 & walberla::pe::Contact::getNormal ( ) const

inline

Returns the global normal of the contact.

Returns: Global normal of the contact.

◆ getNormalRelForce()

real_t walberla::pe::Contact::getNormalRelForce ( ) const

◆ getNormalRelVel()

real_t walberla::pe::Contact::getNormalRelVel ( ) const

inline

Calculation of the normal relative velocity between the two contacting rigid bodies.

Returns: The relative velocity in normal direction.

◆ getPosition()

const Vec3 & walberla::pe::Contact::getPosition ( ) const

inline

Returns the global position of the contact.

Returns: Global position of the contact.

◆ getRelVel()

const Vec3 walberla::pe::Contact::getRelVel ( ) const

inline

Calculation of the relative velocity between the two contacting rigid bodies.

Returns: The relative velocity.

◆ getType()

Contact::ContactType walberla::pe::Contact::getType ( ) const

inline

Returns the type of the contact.

Returns: Type of the contact.

This function returns the type of the contact: separating, resting or colliding. The contact is classified according to the relative velocity of the two touching rigid bodies in the contact:

\( v_{rel} \) > 0: separating contact
\( v_{rel} \) = 0: resting contact
\( v_{rel} \) < 0: colliding contact
(in order to classify the contact, pe::collisionThreshold is used as tolerance level).

◆ isContacting()

bool walberla::pe::Contact::isContacting ( ConstBodyID body ) const

inline

Returns whether the given rigid body is involved in this contact.

Returns: true if the rigid body is involved in this contact, false if not.

◆ isPenetrating()

bool walberla::pe::Contact::isPenetrating ( ) const

inline

Checks if the two contacting rigid bodies are penetrating each other.

Returns: true if the two rigid bodies are penetrating each other, false if not.

The tolerance level of the check is pe::contactThreshold.

Member Data Documentation

◆ b1_

GeomID walberla::pe::Contact::b1_

protected

The first contacting rigid body.

◆ b2_

GeomID walberla::pe::Contact::b2_

protected

The second contacting rigid body.

◆ dist_

real_t walberla::pe::Contact::dist_

protected

Distance between the surfaces of the contacting rigid bodies.

A negative distance means penetration of the two bodies.

◆ e1_

Vec3 walberla::pe::Contact::e1_

protected

Edge direction of the colliding edge of body 1.

◆ e2_

Vec3 walberla::pe::Contact::e2_

protected

Edge direction of the colliding edge of body 2.

◆ gpos_

Vec3 walberla::pe::Contact::gpos_

protected

The global position of the contact.

◆ id_

id_t walberla::pe::Contact::id_

protected

User-specific contact ID.

◆ normal_

Vec3 walberla::pe::Contact::normal_

protected

Normal of the contact.

The normal is defined within the global world frame and points from body 2 to body 1.

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

/builds/administration/walberla-website/walberla/src/pe/contact/Contact.h
/builds/administration/walberla-website/walberla/src/pe/contact/Contact.cpp

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Enumeration Documentation

◆ ContactType

Constructor & Destructor Documentation

◆ Contact()

Member Function Documentation

◆ getBody1()

◆ getBody2()

◆ getDistance()

◆ getID()

◆ getIndex()

◆ getNormal()

◆ getNormalRelForce()

◆ getNormalRelVel()

◆ getPosition()

◆ getRelVel()

◆ getType()

◆ isContacting()

◆ isPenetrating()

Member Data Documentation

◆ b1_

◆ b2_

◆ dist_

◆ e1_

◆ e2_

◆ gpos_

◆ id_

◆ normal_