This algorithm detects contacts between two ContactGeometry::Convex objects. More...

Inheritance diagram for SimTK::CollisionDetectionAlgorithm::ConvexConvex:

Public Member Functions
virtual	~ConvexConvex ()

void	processObjects (ContactSurfaceIndex index1, const ContactGeometry &object1, const Transform &transform1, ContactSurfaceIndex index2, const ContactGeometry &object2, const Transform &transform2, Array_< Contact > &contacts) const override
	Identify contacts between a pair of bodies. More...

Public Member Functions inherited from SimTK::CollisionDetectionAlgorithm
virtual	~CollisionDetectionAlgorithm ()

Additional Inherited Members
Static Public Member Functions inherited from SimTK::CollisionDetectionAlgorithm
static void	registerAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2, CollisionDetectionAlgorithm *algorithm)
	Register a CollisionDetectionAlgorithm to be used for identifying contacts between bodies of two specific types. More...

static CollisionDetectionAlgorithm *	getAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2)
	Get the CollisionDetectionAlgorithm to use for identifying contacts between bodies of two specific types. More...

Detailed Description

This algorithm detects contacts between two ContactGeometry::Convex objects.

Constructor & Destructor Documentation

virtual SimTK::CollisionDetectionAlgorithm::ConvexConvex::~ConvexConvex ( )

inlinevirtual

void SimTK::CollisionDetectionAlgorithm::ConvexConvex::processObjects	(	ContactSurfaceIndex	index1,
		const ContactGeometry &	object1,
		const Transform &	transform1,
		ContactSurfaceIndex	index2,
		const ContactGeometry &	object2,
		const Transform &	transform2,
		Array_< Contact > &	contacts
	)		const

overridevirtual

Identify contacts between a pair of bodies.

Parameters

index1	the index of the first body within its contact set
object1	the ContactGeometry for the first body
transform1	the location and orientation of the first body in the ground frame
index2	the index of the second body within its contact set
object2	the ContactGeometry for the second body
transform2	the location and orientation of the second body in the ground frame
contacts	if the bodies overlap, a Contact should be added to this for each distinct contact between them. (Multiple contacts may exist if one of the bodies is concave.)

The documentation for this class was generated from the following file: