Class contactForce

class contactForce : public baseForce 

Public Functions

contactForce(const shared_ptr<softRobots> &soft_robots, double col_limit, double delta, double k_scaler, bool friction, double nu, bool self_contact)

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

void broadPhaseCollisionDetection() const

int getNumCollisions() const

double getMinDist() const

Public Members

double contact_stiffness

unique_ptr<collisionDetector> col_detector