Simbody  3.6
ContactGeometry.h File Reference

Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes. More...

Go to the source code of this file.

Classes

class  SimTK::ContactGeometry
 A ContactGeometry object describes the shape of all or part of the boundary of a solid object, for the purpose of modeling with Simbody physical effects that occur at the surface of that object, such as contact and wrapping forces. More...
 
class  SimTK::ContactGeometry::HalfSpace
 This ContactGeometry subclass represents an object that occupies the entire half-space x>0. More...
 
class  SimTK::ContactGeometry::Cylinder
 This ContactGeometry subclass represents a cylinder centered at the origin, with radius r in the x-y plane, and infinite length along z. More...
 
class  SimTK::ContactGeometry::Sphere
 This ContactGeometry subclass represents a sphere centered at the origin. More...
 
class  SimTK::ContactGeometry::Ellipsoid
 This ContactGeometry subclass represents an ellipsoid centered at the origin, with its principal axes pointing along the x, y, and z axes and half dimensions a,b, and c (all > 0) along those axes, respectively. More...
 
class  SimTK::ContactGeometry::SmoothHeightMap
 This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using bicubic patches to provide C2 continuity. More...
 
class  SimTK::ContactGeometry::Brick
 This ContactGeometry subclass represents a rectangular solid centered at the origin. More...
 
class  SimTK::ContactGeometry::TriangleMesh
 This ContactGeometry subclass represents an arbitrary shape described by a mesh of triangular faces. More...
 
class  SimTK::ContactGeometry::TriangleMesh::OBBTreeNode
 This class represents a node in the Oriented Bounding Box Tree for a TriangleMesh. More...
 
class  SimTK::ContactGeometry::Torus
 This ContactGeometry subclass represents a torus centered at the origin with the axial direction aligned to the z-axis. More...
 
class  SimTK::Plane
 A simple plane class. More...
 
class  SimTK::GeodHitPlaneEvent
 A event handler to terminate integration when geodesic hits the plane. More...
 
class  SimTK::PathDecorator
 This class generates decoration for contact points and straight line path segments. More...
 
class  SimTK::PlaneDecorator
 This class generates decoration for a plane. More...
 

Namespaces

 SimTK
 This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.
 

Functions

 SimTK::SimTK_DEFINE_UNIQUE_INDEX_TYPE (ContactGeometryTypeId)
 

Detailed Description

Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes.