Template Function coal::details::getSupportSet(const ShapeBase *, const Vec3s&, SupportSet&, int&, size_t, CoalScalar)

• Defined in File support_functions.h

Function Documentation

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void coal::details::getSupportSet(const ShapeBase *shape, const Vec3s &dir, SupportSet &support_set, int &hint, size_t num_sampled_supports = 6, CoalScalar tol = 1e-3)

Same as getSupportSet(const ShapeBase*, const CoalScalar, SupportSet&, const int) but also constructs the support set frame from dir.

Note

The support direction dir is expressed in the local frame of the shape.

Note

This function automatically deals with the direction of the SupportSet.