contact_patch_solver.h File Reference

#include "coal/collision_data.h"
#include "coal/logging.h"
#include "coal/narrowphase/gjk.h"
#include "coal/contact_patch/contact_patch_solver.hxx"

Include dependency graph for contact_patch_solver.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	coal::ContactPatchSolver
	Solver to compute contact patches, i.e. the intersection between two contact surfaces projected onto the shapes' separating plane. Otherwise said, a contact patch is simply the intersection between two support sets: the support set of shape S1 in direction n and the support set of shape S2 in direction -n, where n is the contact normal (satisfying the optimality conditions of GJK/EPA). More...

Namespaces
namespace	coal
	Main namespace.