Class to be used as a callback interface for some user defined action to be taken for each contact (already added to the container, maybe with already computed forces).
The user should implement an inherited class and implement a custom ReportContactCallback() function.
|virtual bool||ReportContactCallback (const ChVector<> &pA, const ChVector<> &pB, const ChMatrix33<> &plane_coord, const double &distance, const ChVector<> &react_forces, const ChVector<> &react_torques, ChContactable *contactobjA, ChContactable *contactobjB)=0|
|Callback, used to report contact points already added to the container. More...|
Member Function Documentation
Callback, used to report contact points already added to the container.
This must be implemented by a child class of ChReportContactCallback. If returns false, the contact scanning will be stopped.
pA get contact pA pB get contact pB plane_coord get contact plane coordsystem (A column 'X' is contact normal) distance get contact distance react_forces get react.forces (if already computed). In coordsystem 'plane_coord' react_torques get react.torques, if rolling friction (if already computed). contactobjA get model A (note: some containers may not support it and could be zero!) contactobjB get model B (note: some containers may not support it and could be zero!)