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>&
101 Contact& currentStatus)
const = 0;
133 Real& accuracyAchieved,
int& numIterations);
171 std::pair<ContactGeometryTypeId,ContactGeometryTypeId> m_surfaceTypes;
195 Contact& currentStatus)
const override;
219 Contact& currentStatus)
const override;
243 Contact& currentStatus)
const override;
267 Contact& currentStatus)
const override;
291 Contact& currentStatus)
const override;
297 Real hsFaceHeight_M, std::set<int>& insideFaces)
const;
299 std::set<int>& insideFaces)
const;
323 Contact& currentStatus)
const override;
330 std::set<int>& insideFaces)
const ;
354 Contact& currentStatus)
const override;
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) {}
405 Contact& currentStatus)
const override;
428 Contact& currentStatus)
const override;
455 Contact& currentStatus)
const override;
Includes internal headers providing declarations for the basic SimTK Core classes,...
This is the header file that every Simmath compilation unit should include first.
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: Mat.h:97
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
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:607