SphereTriangleMesh Class Reference
This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh. More...
#include <CollisionDetectionAlgorithm.h>
Inheritance diagram for SphereTriangleMesh:
Public Member Functions | |
| void | processObjects (int index1, const ContactGeometry &object1, const Transform &transform1, int index2, const ContactGeometry &object2, const Transform &transform2, std::vector< Contact > &contacts) const |
| Identify contacts between a pair of bodies. | |
Detailed Description
This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh.
Member Function Documentation
| void processObjects | ( | int | index1, | |
| const ContactGeometry & | object1, | |||
| const Transform & | transform1, | |||
| int | index2, | |||
| const ContactGeometry & | object2, | |||
| const Transform & | transform2, | |||
| std::vector< Contact > & | contacts | |||
| ) | const [virtual] |
Identify contacts between a pair of bodies.
- Parameters:
-
index1 the index of the first body within its contact set object1 the ContactGeometry for the first body transform1 the location and orientation of the first body in the ground frame index2 the index of the second body within its contact set object2 the ContactGeometry for the second body transform2 the location and orientation of the second body in the ground frame contacts if the bodies overlap, a Contact should be added to this for each distinct contact between them. (Multiple contacts may exist if one of the bodies is concave.)
Implements CollisionDetectionAlgorithm.
The documentation for this class was generated from the following file:
