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>&
94 virtual bool trackContact
101 Contact& currentStatus)
const = 0;
129 static bool refineImplicitPair
133 Real& accuracyAchieved,
int& numIterations);
136 static Vec6 findImplicitPairError
145 static Mat66 calcImplicitPairJacobian
160 static bool estimateConvexImplicitPairContactUsingMPR
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;
460 #endif // SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
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:606
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
This is the header file that every Simmath compilation unit should include first. ...
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:620
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64