1 #ifndef SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_ 2 #define SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_ 78 : m_surfaceTypes(typeOfSurface1, typeOfSurface2)
84 const std::pair<ContactGeometryTypeId,ContactGeometryTypeId>&
94 virtual bool trackContact
101 Contact& currentStatus)
const = 0;
129 static bool refineImplicitPair
133 Real& accuracyAchieved,
int& numIterations);
136 static Vec6 findImplicitPairError
145 static Mat66 calcImplicitPairJacobian
160 static bool estimateConvexImplicitPairContactUsingMPR
171 std::pair<ContactGeometryTypeId,ContactGeometryTypeId> m_surfaceTypes;
297 Real hsFaceHeight_M, std::set<int>& insideFaces)
const;
299 std::set<int>& insideFaces)
const;
330 std::set<int>& insideFaces)
const ;
357 void findIntersectingFaces
364 std::set<int>& insideFaces1,
365 std::set<int>& insideFaces2)
const;
371 std::set<int>& insideFaces)
const;
375 std::set<int>& triangles,
396 typeOfConvexImplicitSurface) {}
460 #endif // SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define OVERRIDE_11
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:267
This is the header file that every Simmath compilation unit should include first. ...
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:607
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64