TriangleMeshContact Class Reference
This subclass of Contact is used when one or both of the ContactGeometry objects is a TriangleMesh. More...
#include <Contact.h>
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. | |
| const std::set< int > & | getSurface1Faces () const |
| Get the indices of all faces of surface1 that are partly or completely inside surface2. | |
| const std::set< int > & | getSurface2Faces () const |
| Get the indices of all faces of surface2 that are partly or completely inside surface1. | |
Static Public Member Functions | |
| static bool | isInstance (const Contact &contact) |
| Determine whether a Contact object is a TriangleMeshContact. | |
| 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. | |
| static TriangleMeshContact & | updAs (Contact &contact) |
| Recast a triangle mesh given as a generic Contact object to a writable reference to a concrete TriangleMeshContact object. | |
| static ContactTypeId | classTypeId () |
| Obtain the unique small-integer id for the TriangleMeshContact class. | |
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
| 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
| static ContactTypeId classTypeId | ( | ) | [static] |
Obtain the unique small-integer id for the TriangleMeshContact class.
| static const TriangleMeshContact& getAs | ( | const Contact & | contact | ) | [inline, static] |
Recast a triangle mesh given as a generic Contact object to a const reference to a concrete TriangleMeshContact object.
| const std::set<int>& 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>& 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 isInstance | ( | const Contact & | contact | ) | [static] |
Determine whether a Contact object is a TriangleMeshContact.
| static TriangleMeshContact& updAs | ( | Contact & | contact | ) | [inline, static] |
Recast a triangle mesh given as a generic Contact object to a writable reference to a concrete TriangleMeshContact object.
The documentation for this class was generated from the following file:
