This class models compliant point contact with a ground plane y=0.
This class is still under development.
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| OpenSim_DECLARE_OUTPUT (force_on_station, SimTK::Vec3, calcContactForceOnStation, SimTK::Stage::Velocity) |
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| OpenSim_DECLARE_SOCKET (station, Station, "The body-fixed point that can contact the plane.") |
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void | computeForce (const SimTK::State &s, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &) const override |
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OpenSim::Array< std::string > | getRecordLabels () const override |
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OpenSim::Array< double > | getRecordValues (const SimTK::State &s) const override |
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void | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &s, SimTK::Array_< SimTK::DecorativeGeometry > &geoms) const override |
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virtual SimTK::Vec3 | calcContactForceOnStation (const SimTK::State &s) const =0 |
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