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Contact.h File Reference

Go to the source code of this file.

Classes

class  SimTK::Contact
 A Contact contains information about the spatial relationship between two surfaces that are near, or in contact with, each other. More...
 
class  SimTK::UntrackedContact
 This subclass of Contact represents a pair of contact surfaces that are not yet being tracked; there is no ContactId for them. More...
 
class  SimTK::BrokenContact
 This subclass of Contact represents a pair of contact surfaces that were in contact (meaning within cutoff range) but have now gone out of range. More...
 
class  SimTK::CircularPointContact
 This subclass of Contact represents a contact between two non-conforming surfaces 1 and 2 that initially meet at a point where each surface has a uniform radius of curvature in all directions (R1 and R2), like a sphere (inside or outside) or a halfspace, resulting in a contact region with circular symmetry. More...
 
class  SimTK::EllipticalPointContact
 This subclass of Contact represents a contact between two non-conforming surfaces 1 and 2 that initially meet at a point and where each surface has two principal curvatures (maximum and minimum) in perpendicular directions. More...
 
class  SimTK::BrickHalfSpaceContact
 This subclass of Contact is used when one ContactGeometry object is a half plane and the other is a Brick. More...
 
class  SimTK::TriangleMeshContact
 This subclass of Contact is used when one or both of the ContactGeometry objects is a TriangleMesh. More...
 
class  SimTK::PointContact
 OBSOLETE – use CircularPointContact or EllipticalPointContact. More...
 

Namespaces

 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 (ContactSurfaceIndex)
 
 SimTK::SimTK_DEFINE_UNIQUE_INDEX_TYPE (ContactId)
 
 SimTK::SimTK_DEFINE_UNIQUE_INDEX_TYPE (ContactTypeId)
 
std::ostream & SimTK::operator<< (std::ostream &o, const Contact &c)