This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere.
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This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere.
◆ ~HalfSpaceSphere()
virtual SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere::~HalfSpaceSphere |
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◆ processObjects()
Identify contacts between a pair of bodies.
- Parameters
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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.) |
Implements SimTK::CollisionDetectionAlgorithm.
The documentation for this class was generated from the following file: