#include <EnslavementForceFeedback.h>
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| SOFA_CLASS2 (EnslavementForceFeedback, core::collision::ContactListener, sofa::component::controller::ForceFeedback) |
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void | init () override |
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void | beginContact (const type::vector< const type::vector< core::collision::DetectionOutput > * > &) override |
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void | endContact (void *) override |
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virtual void | computeForce (SReal, SReal, SReal, SReal, SReal, SReal, SReal, SReal &fx, SReal &fy, SReal &fz) override |
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virtual void | computeWrench (const sofa::defaulttype::SolidTypes< SReal >::Transform &world_H_tool, const sofa::defaulttype::SolidTypes< SReal >::SpatialVector &V_tool_world, sofa::defaulttype::SolidTypes< SReal >::SpatialVector &W_tool_world) override |
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◆ d_attractionDistance
Data<double> sofa::component::controller::EnslavementForceFeedback::d_attractionDistance |
Distance at which the Omni is attracted to the contact point.
◆ d_contactScale
Data<double> sofa::component::controller::EnslavementForceFeedback::d_contactScale |
Scales the maximum penetration depth.
◆ d_normalsPointOut
Data<bool> sofa::component::controller::EnslavementForceFeedback::d_normalsPointOut |
True if the normals of objects point outwards, false if they point inwards.
◆ d_penOffset
Data<double> sofa::component::controller::EnslavementForceFeedback::d_penOffset |
Distance at which there is no reaction force.
◆ d_relativeStiffness
Data<double> sofa::component::controller::EnslavementForceFeedback::d_relativeStiffness |
◆ m_contactForce
sofa::type::Vec3d sofa::component::controller::EnslavementForceFeedback::m_contactForce |
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protected |
◆ EnslavementForceFeedback()
◆ ~EnslavementForceFeedback()
sofa::component::controller::EnslavementForceFeedback::~EnslavementForceFeedback |
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inlineprotected |
◆ beginContact()
◆ computeForce()
void sofa::component::controller::EnslavementForceFeedback::computeForce |
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SReal |
x, |
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SReal |
y, |
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SReal |
z, |
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SReal |
u, |
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SReal |
v, |
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SReal |
w, |
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SReal |
q, |
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SReal & |
fx, |
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SReal & |
fy, |
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SReal & |
fz |
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overridevirtual |
◆ computeWrench()
◆ endContact()
void sofa::component::controller::EnslavementForceFeedback::endContact |
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void * |
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override |
◆ init()
void sofa::component::controller::EnslavementForceFeedback::init |
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override |
◆ SOFA_CLASS2()