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coal/internal/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"
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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...
 

Namespaces

 coal
 Main namespace.
 

Macros

#define PLANE_HSPACE_CONTACT_PATCH(PlaneOrHspace1, PlaneOrHspace2)
 
#define PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(PlaneOrHspace)
 

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)


hpp-fcl
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autogenerated on Sat Nov 23 2024 03:44:59