ContactGeometry.h File Reference

Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes. More...

#include "SimTKcommon.h"
#include "simbody/internal/common.h"
#include "simbody/internal/OrientedBoundingBox.h"
#include <cassert>

Go to the source code of this file.

Classes
class	SimTK::ContactGeometry
	A ContactGeometry object describes the physical shape of contact surface. More...
class	SimTK::ContactGeometry::HalfSpace
	This ContactGeometry subclass represents an object that occupies the entire half-space x>0. More...
class	SimTK::ContactGeometry::Sphere
	This ContactGeometry subclass represents a sphere centered at the origin. More...
class	SimTK::ContactGeometry::Ellipsoid
	This ContactGeometry subclass represents an ellipsoid centered at the origin, with its principal axes pointing along the x, y, and z axes and half dimensions a,b, and c (all > 0) along those axes, respectively. More...
class	SimTK::ContactGeometry::TriangleMesh
	This ContactGeometry subclass represents an arbitrary shape described by a mesh of triangular faces. More...
class	SimTK::ContactGeometry::TriangleMesh::OBBTreeNode
	This class represents a node in the Oriented Bounding Box Tree for a TriangleMesh. More...
Namespaces
namespace	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.
Functions
	SimTK::SimTK_DEFINE_UNIQUE_INDEX_TYPE (ContactGeometryTypeId)

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Detailed Description

Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes.