class Wheel

Public Methods

Wheel()

Wheel(Vector3D pos, Vector3D axis, double r, double f, double k)

~Wheel()

void setPosition(const Vector3D p)

void setAxis(const Vector3D d)

Vector3D getAxis()

Vector3D getPosition()

void setR(const double r)

void setK(const double k)

void setF(const double f)

void setZofPlane(const double z)

void ComputeContact(const Vector3D &pos, const Vector3D &axis)

at first, only collision with a plane z=cte (but default, z=0, but can be changued)

Vector3D getContactPoint(void) const

Vector3D ComputeForces(const double dt)

Returns the contact point in Global axes.

Private Fields

Vector3D Position

Position and axis respect to parent object

Vector3D Axis

Vector3D Velocity

double omega

Velocity of the center (in global axes)

double R

rotational velocity (1/seg)

double r_c

nominal radius

double r_c0

double F

radius of contact

double K

double Z_p

Vector3D PosContact

Z of plane z=cte

int contact

Documentation

Wheel()

Wheel(Vector3D pos, Vector3D axis, double r, double f, double k)

~Wheel()

void setPosition(const Vector3D p)

void setAxis(const Vector3D d)

Vector3D getAxis()

Vector3D getPosition()

void setR(const double r)

void setK(const double k)

void setF(const double f)

void setZofPlane(const double z)

void ComputeContact(const Vector3D &pos, const Vector3D &axis)

at first, only collision with a plane z=cte (but default, z=0, but can be changued)

Vector3D getContactPoint(void) const

Vector3D ComputeForces(const double dt)

Returns the contact point in Global axes.

Vector3D Position

Position and axis respect to parent object

Vector3D Axis

Vector3D Velocity

double omega

Velocity of the center (in global axes)

double R

rotational velocity (1/seg)

double r_c

nominal radius

double r_c0

double F

radius of contact

double K

double Z_p

Vector3D PosContact

Z of plane z=cte

int contact

This class has no child classes.

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