Typedef coal::SupportSet

• Defined in File collision_data.h

Typedef Documentation

using coal::SupportSet = ContactPatch

Structure used for internal computations. A support set and a contact patch can be represented by the same structure. In fact, a contact patch is the intersection of two support sets, one with PatchDirection::DEFAULT and one with PatchDirection::INVERTED.

Note

A support set with DEFAULT direction is the support set of a shape in the direction given by +n, where n is the z-axis of the frame’s patch rotation. An INVERTED support set is the support set of a shape in the direction -n.