---

Collision Class Reference

#include <collision.h>

Collaboration diagram for Collision:

[legend]List of all members.

Public Methods
	Collision ()
	Default and unusefull default constructor.
	Collision (Cylinder *cyl1, const Point3d &pt1, Cylinder *cyl2, const Point3d &pt2, Vector3d &normal, collisionType type)
	Collision against other cylinder.
	Collision (Cylinder *cyl, const Point3d &pt, collisionType type)
	Collision (Cylinder *cyl, const Point3d &pt1, const Point3d &pt2, collisionType type)
	Collision of one cylinder in two points over a plane.
	~Collision ()
void	resolve ()
	Resolves the collision appling a force on the cylinders.
collisionType	getType ()
	Returns the type of collision.
Protected Methods
void	resolveGroundCollision ()
	Resolves the collision against ground plane.
void	resolveCylinderCollision ()
	Resolves the collision against another cylinder.
Protected Attributes
Cylinder *	cyl1
	Cylinder that collides.
Cylinder *	cyl2
	Cylinder that collides.
Point3d	pt1
	Point over cylinder.
Point3d	pt2
	Point over cylinder.
collisionType	type
	Type of collision.
Vector3d	normal
	Collision normal, normalized.

---

Constructor & Destructor Documentation

Collision::Collision (    )

Default and unusefull default constructor. Default constructor, but not usefull at all. Definition at line 34 of file collision.cc. References noCollision, and type.

Collision::Collision (  Cylinder *    _cyl1, const Point3d &    _pt1, Cylinder *    _cyl2, const Point3d &    _pt2, Vector3d &    _normal, collisionType    _type )

Collision against other cylinder. This collision is against another cylinder. Just copy some data. Definition at line 42 of file collision.cc. References collisionType, cyl1, cyl2, normal, Point3d, pt1, pt2, and type.

Collision::Collision (  Cylinder *    cyl, const Point3d &    pt, collisionType    type )

Collision between a plane and a cylinder. The plane is always the ground plane (n(0,0,1), p(0,1,0)). Definition at line 55 of file collision.cc. References collisionType, cyl1, cyl2, normal, Point3d, pt1, and type.

Collision::Collision (  Cylinder *    _cyl, const Point3d &    _pt1, const Point3d &    _pt2, collisionType    _type )

Collision of one cylinder in two points over a plane. Two points of one cylinder are touching in some way a plane, the only difference is that we should anulate moment Definition at line 67 of file collision.cc. References collisionType, cyl1, cyl2, normal, Point3d, pt1, pt2, and type.

Collision::~Collision (    )

Definition at line 78 of file collision.cc.

---

Member Function Documentation

collisionType Collision::getType (    )  [inline]

Returns the type of collision. Definition at line 76 of file collision.h. References collisionType, and type. Referenced by Cylinder::newCycle().

void Collision::resolve (    )

Resolves the collision appling a force on the cylinders. Resolves a collision Definition at line 84 of file collision.cc. References cyl2, noCollision, resolveCylinderCollision(), resolveGroundCollision(), and type. Referenced by Cylinder::newCycle().

void Collision::resolveCylinderCollision (    )  [protected]

Resolves the collision against another cylinder. Resolves the forces that have to applied against both cylinders, the moments, and all those things, depending if they are in contact, o penetrating... Definition at line 171 of file collision.cc. Referenced by resolve().

void Collision::resolveGroundCollision (    )  [protected]

Resolves the collision against ground plane. Definition at line 94 of file collision.cc. References Cylinder::angularVelocity, COLLISION_VELOCITY_EPSILUM, contact, cyl1, Cylinder::force, World::getGroundFrictionCoefficient(), Cylinder::inertia, Cylinder::inertiaInverse, log, Cylinder::mass, Vector3d::module(), Cylinder::moment, normal, Vector3d::normalize(), Cylinder::orientationBase, Point3d, pt1, Quaternion::toBody(), Vector3d::toString(), Quaternion::toWorld(), type, Cylinder::velocity, Vector3d::X(), Vector3d::Y(), and Vector3d::Z(). Referenced by resolve().

---

Member Data Documentation

Cylinder* Collision::cyl1 [protected]

Cylinder that collides. Definition at line 43 of file collision.h. Referenced by Collision(), and resolveGroundCollision().

Cylinder * Collision::cyl2 [protected]

Cylinder that collides. Definition at line 43 of file collision.h. Referenced by Collision(), and resolve().

Vector3d Collision::normal [protected]

Collision normal, normalized. Definition at line 50 of file collision.h. Referenced by Collision(), and resolveGroundCollision().

Point3d Collision::pt1 [protected]

Point over cylinder. Definition at line 45 of file collision.h. Referenced by Collision(), and resolveGroundCollision().

Point3d Collision::pt2 [protected]

Point over cylinder. Definition at line 45 of file collision.h. Referenced by Collision().

collisionType Collision::type [protected]

Type of collision. Definition at line 48 of file collision.h. Referenced by Collision(), getType(), resolve(), and resolveGroundCollision().

---

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

• collision.h
• collision.cc

---