ode.Contact

Module ode :: Class Contact

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Type Contact

object --+
         |
        Contact

This class represents a contact between two bodies in one point.

A Contact object stores all the input parameters for a ContactJoint. This class wraps the ODE dContact structure which has 3 components:

struct dContact {
  dSurfaceParameters surface;
  dContactGeom geom;
  dVector3 fdir1;
};

This wrapper class provides methods to get and set the items of those structures.

Method Summary
	`__new__(T, S, ...)` T.__new__(S, ...) -> a new object with type S, a subtype of T
float	`getBounce()` Return the restitution parameter.
float	`getBounceVel()` Return the minimum incoming velocity necessary for bounce.
(pos, normal, depth, geom1, geom2)	`getContactGeomParams()` Get the ContactGeom structure of the contact.
(x, y, z)	`getFDir1()` Get the "first friction direction" vector that defines a direction along which frictional force is applied.
flags	`getMode()` Return the contact flags.
float	`getMotion1()` Get the surface velocity in friction direction 1.
float	`getMotion2()` Get the surface velocity in friction direction 2.
float	`getMu()` Return the Coulomb friction coefficient.
float	`getMu2()` Return the optional Coulomb friction coefficient for direction 2.
float	`getSlip1()` Get the coefficient of force-dependent-slip (FDS) for friction direction 1.
float	`getSlip2()` Get the coefficient of force-dependent-slip (FDS) for friction direction 2.
float	`getSoftCFM()` Return the contact normal "softness" parameter.
float	`getSoftERP()` Return the contact normal "softness" parameter.
	`setBounce(b)`
	`setBounceVel(bv)` Set the minimum incoming velocity necessary for bounce.
	`setContactGeomParams(pos, normal, depth, geom1, geom2)` Set the ContactGeom structure of the contact.
	`setFDir1(fdir)` Set the "first friction direction" vector that defines a direction along which frictional force is applied.
	`setMode(flags)` Set the contact flags.
	`setMotion1(m)` Set the surface velocity in friction direction 1.
	`setMotion2(m)` Set the surface velocity in friction direction 2.
	`setMu(mu)` Set the Coulomb friction coefficient.
	`setMu2(mu)` Set the optional Coulomb friction coefficient for direction 2.
	`setSlip1(s)` Set the coefficient of force-dependent-slip (FDS) for friction direction 1.
	`setSlip2(s)` Set the coefficient of force-dependent-slip (FDS) for friction direction 1.
	`setSoftCFM(cfm)` Set the contact normal "softness" parameter.
	`setSoftERP(erp)` Set the contact normal "softness" parameter.
Inherited from object
	`__init__(...)` x.__init__(...) initializes x; see x.__class__.__doc__ for signature
	`__delattr__(...)` x.__delattr__('name') <==> del x.name
	`__getattribute__(...)` x.__getattribute__('name') <==> x.name
	`__hash__(x)` x.__hash__() <==> hash(x)
	`__reduce__(...)` helper for pickle
	`__reduce_ex__(...)` helper for pickle
	`__repr__(x)` x.__repr__() <==> repr(x)
	`__setattr__(...)` x.__setattr__('name', value) <==> x.name = value
	`__str__(x)` x.__str__() <==> str(x)

Method Details

new(T, S, ...)

T.__new__(S, ...) -> a new object with type S, a subtype of T

Returns:

a new object with type S, a subtype of T

Overrides:: __builtin__.object.__new__

getBounce()

Return the restitution parameter.

Returns:: float

getBounceVel()

Return the minimum incoming velocity necessary for bounce.

Returns:: float

getContactGeomParams()

Get the ContactGeom structure of the contact.

The return value is a tuple (pos, normal, depth, geom1, geom2) where pos and normal are 3-tuples of floats and depth is a single float. geom1 and geom2 are the Geom objects of the geoms in contact.

Returns:: (pos, normal, depth, geom1, geom2)

getFDir1()

Get the "first friction direction" vector that defines a direction along which frictional force is applied.

Returns:: (x, y, z)

getMode()

Return the contact flags.

Returns:: flags

getMotion1()

Get the surface velocity in friction direction 1.

Returns:: float

getMotion2()

Get the surface velocity in friction direction 2.

Returns:: float

getMu()

Return the Coulomb friction coefficient.

Returns:: float

getMu2()

Return the optional Coulomb friction coefficient for direction 2.

Returns:: float

getSlip1()

Get the coefficient of force-dependent-slip (FDS) for friction direction 1.

Returns:: float

getSlip2()

Get the coefficient of force-dependent-slip (FDS) for friction direction 2.

Returns:: float

getSoftCFM()

Return the contact normal "softness" parameter.

Returns:: float

getSoftERP()

Return the contact normal "softness" parameter.

Returns:: float

setBounce(b)

Parameters:: b - Restitution parameter (0..1)
(type=float)

setBounceVel(bv)

Set the minimum incoming velocity necessary for bounce. Incoming velocities below this will effectively have a bounce parameter of 0.

Parameters:: bv - Velocity
(type=float)

setContactGeomParams(pos, normal, depth, geom1=None, geom2=None)

Set the ContactGeom structure of the contact.

Parameters:: pos - Contact position, in global coordinates
(type=3-sequence of floats); normal - Unit length normal vector
(type=3-sequence of floats); depth - Depth to which the two bodies inter-penetrate
(type=float); geom1 - Geometry object 1 that collided
(type=Geom); geom2 - Geometry object 2 that collided
(type=Geom)

setFDir1(fdir)

Set the "first friction direction" vector that defines a direction along which frictional force is applied. It must be of unit length and perpendicular to the contact normal (so it is typically tangential to the contact surface).

Parameters:: fdir - Friction direction
(type=3-sequence of floats)

setMode(flags)

Set the contact flags. The argument m is a combination of the ContactXyz flags (ContactMu2, ContactBounce, ...).

Parameters:: flags - Contact flags
(type=int)

setMotion1(m)

Set the surface velocity in friction direction 1.

Parameters:: m - Surface velocity
(type=float)

setMotion2(m)

Set the surface velocity in friction direction 2.

Parameters:: m - Surface velocity
(type=float)

setMu(mu)

Set the Coulomb friction coefficient.

Parameters:: mu - Coulomb friction coefficient (0..Infinity)
(type=float)

setMu2(mu)

Set the optional Coulomb friction coefficient for direction 2.

Parameters:: mu - Coulomb friction coefficient (0..Infinity)
(type=float)

setSlip1(s)

Set the coefficient of force-dependent-slip (FDS) for friction direction 1.

Parameters:: s - FDS coefficient
(type=float)

setSlip2(s)