Template Struct ComputeShapeShapeContactPatch

• Defined in File shape_shape_contact_patch_func.h

Struct Documentation

template<typename ShapeType1, typename ShapeType2>
struct ComputeShapeShapeContactPatch

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

Public Static Functions

static inline 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)