Simbody  3.6
SimTK::CollisionDetectionAlgorithm::SphereTriangleMesh Class Reference

This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh. More...

+ Inheritance diagram for SimTK::CollisionDetectionAlgorithm::SphereTriangleMesh:

Public Member Functions

virtual ~SphereTriangleMesh ()
 
void processObjects (ContactSurfaceIndex index1, const ContactGeometry &object1, const Transform &transform1, ContactSurfaceIndex index2, const ContactGeometry &object2, const Transform &transform2, Array_< Contact > &contacts) const override
 Identify contacts between a pair of bodies. More...
 
- Public Member Functions inherited from SimTK::CollisionDetectionAlgorithm
virtual ~CollisionDetectionAlgorithm ()
 

Additional Inherited Members

- Static Public Member Functions inherited from SimTK::CollisionDetectionAlgorithm
static void registerAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2, CollisionDetectionAlgorithm *algorithm)
 Register a CollisionDetectionAlgorithm to be used for identifying contacts between bodies of two specific types. More...
 
static CollisionDetectionAlgorithmgetAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2)
 Get the CollisionDetectionAlgorithm to use for identifying contacts between bodies of two specific types. More...
 

Detailed Description

This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh.

Constructor & Destructor Documentation

◆ ~SphereTriangleMesh()

virtual SimTK::CollisionDetectionAlgorithm::SphereTriangleMesh::~SphereTriangleMesh ( )
inlinevirtual

Member Function Documentation

◆ processObjects()

void SimTK::CollisionDetectionAlgorithm::SphereTriangleMesh::processObjects ( ContactSurfaceIndex  index1,
const ContactGeometry object1,
const Transform transform1,
ContactSurfaceIndex  index2,
const ContactGeometry object2,
const Transform transform2,
Array_< Contact > &  contacts 
) const
overridevirtual

Identify contacts between a pair of bodies.

Parameters
index1the index of the first body within its contact set
object1the ContactGeometry for the first body
transform1the location and orientation of the first body in the ground frame
index2the index of the second body within its contact set
object2the ContactGeometry for the second body
transform2the location and orientation of the second body in the ground frame
contactsif 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: