/// Return the resultant contact torque acting on the specified contactable object.
public ChVector GetContactableTorque(ChContactable contactable)
{
/* Dictionary<IChContactable, ForceTorque>.Enumerator Iterator = contact_forces.find(contactable);
* if (Iterator != contact_forces.end())
* {
* return Iterator.second.torque;
* }*/
return(new ChVector(0));
}
/// Callback used to report contact points already added to the container.
/// If it returns false, the contact scanning will be stopped.
public abstract bool OnReportContact(
ChVector pA, //< contact pA
ChVector pB, //< contact pB
ChMatrix33 <double> plane_coord, //< contact plane coordsystem (A column 'X' is contact normal)
double distance, //< contact distance
double eff_radius, //< effective radius of curvature at contact
ChVector react_forces, //< react.forces (if already computed). In coordsystem 'plane_coord'
ChVector react_torques, //< react.torques, if rolling friction (if already computed).
ChContactable contactobjA, //< model A (note: some containers may not support it and could be nullptr)
ChContactable contactobjB //< model B (note: some containers may not support it and could be nullptr)
);
/// Return the resultant contact force acting on the specified contactable object.
public ChVector GetContactableForce(ChContactable contactable)
{
//Dictionary<IChContactable, ForceTorque> it = new Dictionary<IChContactable, ForceTorque>();
/* foreach (KeyValuePair<IChContactable, ForceTorque> it in contact_forces)
* {
* if(it.Key == contactable)
* {
* return it[1].force;
* }
* }
* Dictionary<IChContactable, ForceTorque> Iterator = contact_forces.Find(contactable);
* if (Iterator != contact_forces.Last())
* {
* return Iterator[1].force;
* }*/
return(new ChVector(0));
}
/// Sets the pointer to the contactable object.
/// A derived class may override this, but should always invoke this base class implementation.
public virtual void SetContactable(ChContactable mc)
{
mcontactable = mc;
}
