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 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

)