ContactSphere vs ContactHalfSpace

Provide easy-to-use, extensible software for modeling, simulating, controlling, and analyzing the neuromusculoskeletal system.
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Connor Stapp
Posts: 18
Joined: Tue Jan 31, 2017 1:44 pm

ContactSphere vs ContactHalfSpace

Post by Connor Stapp » Thu Jun 22, 2017 7:24 am

Hello,

I'm looking at ContactGeometrySets. I don't know the difference between ContactHalfSpace and ContactSphere and how they work. Would someone be able to explain the difference between the two?
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Thomas Uchida
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Joined: Wed May 16, 2012 11:40 am

Re: ContactSphere vs ContactHalfSpace

Post by Thomas Uchida » Thu Jun 22, 2017 3:00 pm

Here are the relevant entries in the OpenSim API documentation (note the descriptions at the top of these pages):
- ContactHalfSpace: https://simtk.org/api_docs/opensim/api_ ... Space.html
- ContactSphere: https://simtk.org/api_docs/opensim/api_ ... phere.html

The former can be used to model a floor; the latter, a ball or spherical foot. Both are used in the "Dynamic Walking Challenge: Go the Distance!" example (http://simtk-confluence.stanford.edu:80 ... Id=5113821).
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