Contact.h File Reference

#include "SimTKcommon.h"
#include "simmath/internal/common.h"

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::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)