ContactGeometry.h File Reference

Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes. More...

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Classes
class	SimTK::ContactGeometry
	A ContactGeometry object describes the shape of all or part of the boundary of a solid object, for the purpose of modeling with Simbody physical effects that occur at the surface of that object, such as contact and wrapping forces. More...
class	SimTK::ContactGeometry::HalfSpace
	This ContactGeometry subclass represents an object that occupies the entire half-space x>0. More...
class	SimTK::ContactGeometry::Cylinder
	This ContactGeometry subclass represents a cylinder centered at the origin, with radius r in the x-y plane, and infinite length along z. More...
class	SimTK::ContactGeometry::Sphere
	This ContactGeometry subclass represents a sphere centered at the origin. More...
class	SimTK::ContactGeometry::Ellipsoid
	This ContactGeometry subclass represents an ellipsoid centered at the origin, with its principal axes pointing along the x, y, and z axes and half dimensions a,b, and c (all > 0) along those axes, respectively. More...
class	SimTK::ContactGeometry::SmoothHeightMap
	This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using bicubic patches to provide C2 continuity. More...
class	SimTK::ContactGeometry::Brick
	This ContactGeometry subclass represents a rectangular solid centered at the origin. More...
class	SimTK::ContactGeometry::TriangleMesh
	This ContactGeometry subclass represents an arbitrary shape described by a mesh of triangular faces. More...
class	SimTK::ContactGeometry::TriangleMesh::OBBTreeNode
	This class represents a node in the Oriented Bounding Box Tree for a TriangleMesh. More...
class	SimTK::ContactGeometry::Torus
	This ContactGeometry subclass represents a torus centered at the origin with the axial direction aligned to the z-axis. More...
class	SimTK::Plane
	A simple plane class. More...
class	SimTK::GeodHitPlaneEvent
	A event handler to terminate integration when geodesic hits the plane. More...
class	SimTK::PathDecorator
	This class generates decoration for contact points and straight line path segments. More...
class	SimTK::PlaneDecorator
	This class generates decoration for a plane. 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 (ContactGeometryTypeId)

Detailed Description

Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes.