shape_shape_contact_patch_func.h File Reference
#include "coal/collision_data.h"#include "coal/collision_utility.h"#include "coal/narrowphase/narrowphase.h"#include "coal/contact_patch/contact_patch_solver.h"#include "coal/shape/geometric_shapes_traits.h"#include "coal/tracy.hh"
Include dependency graph for shape_shape_contact_patch_func.h:
Go to the source code of this file.
Classes | |
| struct | coal::ComputeShapeShapeContactPatch< ShapeType1, ShapeType2 > |
Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest. More... | |
| struct | coal::ComputeShapeShapeContactPatch< OtherShapeType, Plane > |
| struct | coal::ComputeShapeShapeContactPatch< Plane, OtherShapeType > |
| struct | coal::ComputeShapeShapeContactPatch< OtherShapeType, Halfspace > |
| struct | coal::ComputeShapeShapeContactPatch< Halfspace, OtherShapeType > |
| struct | coal::ComputeShapeShapeContactPatch< Plane, Plane > |
| struct | coal::ComputeShapeShapeContactPatch< Plane, Halfspace > |
| struct | coal::ComputeShapeShapeContactPatch< Halfspace, Plane > |
| struct | coal::ComputeShapeShapeContactPatch< Halfspace, Halfspace > |
Namespaces | |
| coal | |
| Main namespace. | |
Macros | |
| #define | PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(PlaneOrHspace) |
| #define | PLANE_HSPACE_CONTACT_PATCH(PlaneOrHspace1, PlaneOrHspace2) |
Functions | |
| template<bool InvertShapes, typename OtherShapeType , typename PlaneOrHalfspace > | |
| void | coal::computePatchPlaneOrHalfspace (const OtherShapeType &s1, const Transform3s &tf1, const PlaneOrHalfspace &s2, const Transform3s &tf2, const ContactPatchSolver *csolver, const Contact &contact, ContactPatch &contact_patch) |
| Computes the contact patch between a Plane/Halfspace and another shape. More... | |
| template<typename ShapeType1 , typename ShapeType2 > | |
| void | coal::ShapeShapeContactPatch (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result) |
Macro Definition Documentation
◆ PLANE_HSPACE_CONTACT_PATCH
| #define PLANE_HSPACE_CONTACT_PATCH | ( | PlaneOrHspace1, | |
| PlaneOrHspace2 | |||
| ) |
◆ PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH
| #define PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH | ( | PlaneOrHspace | ) |
