contact_patch.h File Reference

#include "coal/data_types.h"
#include "coal/collision_data.h"
#include "coal/contact_patch/contact_patch_solver.h"
#include "coal/contact_patch_func_matrix.h"

Include dependency graph for contact_patch.h:

Go to the source code of this file.

Classes
class	coal::ComputeContactPatch
	This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries. More...

Namespaces
namespace	coal
	Main namespace.

Functions
void	coal::computeContactPatch (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result)
	Main contact patch computation interface.
void	coal::computeContactPatch (const CollisionObject *o1, const CollisionObject *o2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result)