Template Function coal::computePatchPlaneOrHalfspace

• Defined in File shape_shape_contact_patch_func.h

Function Documentation

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.

Template Parameters:

InvertShapes – set to true if the first shape of the collision pair is s2 and not s1 (if you had to invert (s1, tf1) and (s2, tf2) when calling this function).