Function coal::constructContactPatchFrameFromContact

• Defined in File collision_data.h

Function Documentation

inline void coal::constructContactPatchFrameFromContact(const Contact &contact, ContactPatch &contact_patch)

Construct a frame from a Contact’s position and normal. Because both Contact’s position and normal are expressed in the world frame, this frame is also expressed w.r.t the world frame. The origin of the frame is contact.pos and the z-axis of the frame is contact.normal.