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 CollisionDetectionAlgorithm * | getAlgorithm (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()
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inlinevirtual |
Member Function Documentation
◆ processObjects()
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overridevirtual |
Identify contacts between a pair of bodies.
- Parameters
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index1 the index of the first body within its contact set object1 the ContactGeometry for the first body transform1 the location and orientation of the first body in the ground frame index2 the index of the second body within its contact set object2 the ContactGeometry for the second body transform2 the location and orientation of the second body in the ground frame contacts if 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:
