Contact.h File Reference

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

Go to the source code of this file.

Classes
class	Contact
	A Contact contains information about two surfaces that are in contact with each other. More...
class	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	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	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	TriangleMeshContact
	This subclass of Contact is used when one or both of the ContactGeometry objects is a TriangleMesh. More...
class	PointContact
	This subclass of Contact represents a symmetric contact centered at a single point, such as between two spheres or a sphere and a half space. 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_DEFINE_UNIQUE_INDEX_TYPE (ContactSurfaceIndex)
	This defines a unique index for all the contact surfaces being handled either by a ContactTrackerSubsystem or within a single ContactSet of a GeneralContactSubsystem.
	SimTK_DEFINE_UNIQUE_INDEX_TYPE (ContactId)
	This is a unique integer Id assigned to each contact pair when we first begin to track it.
	SimTK_DEFINE_UNIQUE_INDEX_TYPE (ContactTypeId)
	This is a small integer that serves as the unique typeid for each type of concrete Contact class.
std::ostream &	operator<< (std::ostream &o, const Contact &c)