Class ComputeContactPatch

• Defined in File contact_patch.h

Class Documentation

class ComputeContactPatch

This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries.

ComputeContactPatch calc_patch (o1, o2);
calc_patch(tf1, tf2, collision_result, patch_request, patch_result);

Note

This needs to be called after collide or after ComputeCollision.

Public Functions

ComputeContactPatch(const CollisionGeometry *o1, const CollisionGeometry *o2)

Default constructor from two Collision Geometries.

void operator()(const Transform3s &tf1, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) const

inline bool operator==(const ComputeContactPatch &other) const

inline bool operator!=(const ComputeContactPatch &other) const

virtual ~ComputeContactPatch() = default

Protected Functions

virtual void run(const Transform3s &tf1, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) const

Protected Attributes

mutable const CollisionGeometry *o1

mutable const CollisionGeometry *o2

mutable ContactPatchSolver csolver

ContactPatchFunctionMatrix::ContactPatchFunc func

bool swap_geoms