SimTK::TriangleMeshContact Class Reference

This subclass of Contact is used when one or both of the ContactGeometry objects is a TriangleMesh. More...

Inheritance diagram for SimTK::TriangleMeshContact:

Public Member Functions
	TriangleMeshContact (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, const Transform &X_S1S2, const std::set< int > &faces1, const std::set< int > &faces2)
	Create a TriangleMeshContact object. More...
const std::set< int > &	getSurface1Faces () const
	Get the indices of all faces of surface1 that are partly or completely inside surface2. More...
const std::set< int > &	getSurface2Faces () const
	Get the indices of all faces of surface2 that are partly or completely inside surface1. More...
Public Member Functions inherited from SimTK::Contact
	Contact ()
	The default constructor creates an empty handle. More...
	Contact (const Contact &source)
	Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source. More...
	~Contact ()
	Destructor clears the handle, deleting the referenced object if this was the last reference. More...
Contact &	operator= (const Contact &source)
	Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source. More...
void	clear ()
	Clear this handle, deleting the referenced object if this was the last reference. More...
bool	isEmpty () const
	See if this handle is empty. More...
ContactId	getContactId () const
	Get the persistent ContactId that has been assigned to this Contact object if there is one (otherwise this will be invalid – you can check with isValid(). More...
Condition	getCondition () const
	Find out the current condition of this Contact object. More...
ContactSurfaceIndex	getSurface1 () const
	Get the first surface involved in the contact, specified by its index within its contact set or ContactTrackerSubsystem. More...
ContactSurfaceIndex	getSurface2 () const
	Get the second surface involved in the contact, specified by its index within its contact set or ContactTrackerSubsystem. More...
const Transform &	getTransform () const
	Return the transform X_S1S2 giving the pose of surface 2's frame measured and expressed in surface 1's frame, recorded at the time this Contact object was calculated. More...
Contact &	setContactId (ContactId id)
	Set the ContactId for this Contact object. More...
Contact &	setCondition (Condition condition)
	Set the current Condition. More...
Contact &	setSurfaces (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2)
	Set the surfaces tracked by this Contact object. More...
Contact &	setTransform (const Transform &X_S1S2)
	Set the surface-to-surface relative transform X_S1S2. More...
ContactTypeId	getTypeId () const
	Return a unique small integer corresponding to the concrete type of Contact object being referenced by this handle. More...
const ContactImpl &	getImpl () const
ContactImpl &	updImpl ()

Static Public Member Functions
static bool	isInstance (const Contact &contact)
	Determine whether a Contact object is a TriangleMeshContact. More...
static const TriangleMeshContact &	getAs (const Contact &contact)
	Recast a triangle mesh given as a generic Contact object to a const reference to a concrete TriangleMeshContact object. More...
static TriangleMeshContact &	updAs (Contact &contact)
	Recast a triangle mesh given as a generic Contact object to a writable reference to a concrete TriangleMeshContact object. More...
static ContactTypeId	classTypeId ()
	Obtain the unique small-integer id for the TriangleMeshContact class. More...
Static Public Member Functions inherited from SimTK::Contact
static const char *	nameOfCondition (Condition)
	Returns a human-readable name corresponding to the given Condition; useful for debugging. More...
static ContactId	createNewContactId ()
	This creates a new ContactId starting from 1 and increasing for a very long time (to a billion or so) before repeating. More...

Additional Inherited Members
Public Types inherited from SimTK::Contact
enum	Condition {   Unknown,   Untracked,   Anticipated,   NewContact,   Ongoing,   Broken }
	The Contact::Condition tracks the status of a Contact through its lifetime. More...
Protected Member Functions inherited from SimTK::Contact
	Contact (ContactImpl *impl)

Detailed Description

This subclass of Contact is used when one or both of the ContactGeometry objects is a TriangleMesh.

It stores a list of every face on each object that is partly or completely inside the other one.

Constructor & Destructor Documentation

SimTK::TriangleMeshContact::TriangleMeshContact	(	ContactSurfaceIndex	surf1,
		ContactSurfaceIndex	surf2,
		const Transform &	X_S1S2,
		const std::set< int > &	faces1,
		const std::set< int > &	faces2
	)

Create a TriangleMeshContact object.

Parameters

surf1	the index of the first surface involved in the contact, specified by its index within its contact set
surf2	the index of the second surface involved in the contact, specified by its index within its contact set
X_S1S2	the transform giving surf2's frame measured and expressed in surf1's frame
faces1	the indices of all faces in the first surface which are inside the second one
faces2	the indices of all faces in the second surface which are inside the first one

Member Function Documentation

const std::set<int>& SimTK::TriangleMeshContact::getSurface1Faces

(

)

const

Get the indices of all faces of surface1 that are partly or completely inside surface2.

If surface1 is not a TriangleMesh, this will return an empty set.

const std::set<int>& SimTK::TriangleMeshContact::getSurface2Faces

(

)

const

Get the indices of all faces of surface2 that are partly or completely inside surface1.

If surface2 is not a TriangleMesh, this will return an empty set.

static bool SimTK::TriangleMeshContact::isInstance ( const Contact &  contact )

static

Determine whether a Contact object is a TriangleMeshContact.

static const TriangleMeshContact& SimTK::TriangleMeshContact::getAs ( const Contact &  contact )

inlinestatic

Recast a triangle mesh given as a generic Contact object to a const reference to a concrete TriangleMeshContact object.

static TriangleMeshContact& SimTK::TriangleMeshContact::updAs ( Contact &  contact )

inlinestatic

Recast a triangle mesh given as a generic Contact object to a writable reference to a concrete TriangleMeshContact object.

static ContactTypeId SimTK::TriangleMeshContact::classTypeId ( )

static

Obtain the unique small-integer id for the TriangleMeshContact class.

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The documentation for this class was generated from the following file:

• Contact.h