coal::ComputeShapeShapeContactPatch< ShapeType1, ShapeType2 > Struct Template Reference

Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest. More...

#include <coal/internal/shape_shape_contact_patch_func.h>

Static Public Member Functions
static void	run (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result)

Detailed Description

template<typename ShapeType1, typename ShapeType2>
struct coal::ComputeShapeShapeContactPatch< ShapeType1, ShapeType2 >

Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest.

Member Function Documentation

run()

template<typename ShapeType1 , typename ShapeType2 >

static void coal::ComputeShapeShapeContactPatch< ShapeType1, ShapeType2 >::run ( const CollisionGeometry *  o1, const Transform3s &  tf1, const CollisionGeometry *  o2, const Transform3s &  tf2, const CollisionResult &  collision_result, const ContactPatchSolver *  csolver, const ContactPatchRequest &  request, ContactPatchResult &  result  )

inlinestatic

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The documentation for this struct was generated from the following file:

• include/coal/internal/shape_shape_contact_patch_func.h