1 #ifndef SimTK_SIMMATH_CONTACT_H_
2 #define SimTK_SIMMATH_CONTACT_H_
62 class UntrackedContactImpl;
63 class BrokenContactImpl;
64 class CircularPointContactImpl;
65 class EllipticalPointContactImpl;
66 class BrickHalfSpaceContactImpl;
67 class TriangleMeshContactImpl;
69 class PointContactImpl;
155 const ContactImpl&
getImpl()
const {assert(impl);
return *impl;}
156 ContactImpl&
updImpl() {assert(impl);
return *impl;}
165 <<
" (typeId=" << c.
getTypeId() <<
"):\n";
199 const UntrackedContactImpl& getImpl()
const
200 { assert(isInstance(*
this));
201 return reinterpret_cast<const UntrackedContactImpl&
>
238 const BrokenContactImpl& getImpl()
const
239 { assert(isInstance(*
this));
304 { assert(isInstance(contact));
307 { assert(isInstance(contact));
314 const CircularPointContactImpl& getImpl()
const
315 { assert(isInstance(*
this));
316 return reinterpret_cast<const CircularPointContactImpl&
>
394 { assert(isInstance(contact));
397 { assert(isInstance(contact));
404 const EllipticalPointContactImpl& getImpl()
const
405 { assert(isInstance(*
this));
406 return reinterpret_cast<const EllipticalPointContactImpl&
>
450 { assert(isInstance(contact));
456 { assert(isInstance(contact));
464 const BrickHalfSpaceContactImpl& getImpl()
const
465 { assert(isInstance(*
this));
466 return reinterpret_cast<const BrickHalfSpaceContactImpl&
>
494 const std::set<int>& faces1,
495 const std::set<int>& faces2);
511 { assert(isInstance(contact));
516 { assert(isInstance(contact));
524 const TriangleMeshContactImpl& getImpl()
const
525 { assert(isInstance(*
this));
526 return reinterpret_cast<const TriangleMeshContactImpl&
>
619 const PointContactImpl& getImpl()
const
620 { assert(isInstance(*
this));
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 is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
std::ostream & operator<<(std::ostream &o, const ContactForce &f)
Definition: CompliantContactSubsystem.h:387
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
SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)