Simbody
3.5
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This ContactGeometry subclass represents a rectangular solid centered at the origin. More...
Public Member Functions | |
Brick (const Vec3 &halfLengths) | |
Create a brick-shaped contact shape of the given half-dimensions, expressed in the brick's local frame. | |
const Vec3 & | getHalfLengths () const |
Get the half-dimensions of this Brick, expressed in its own frame. | |
void | setHalfLengths (const Vec3 &halfLengths) |
Change the shape or size of this brick by setting its half-dimensions. | |
const Geo::Box & | getGeoBox () const |
Get the Geo::Box object used to represent this Brick. | |
const Impl & | getImpl () const |
Impl & | updImpl () |
Internal use only. | |
Static Public Member Functions | |
static bool | isInstance (const ContactGeometry &geo) |
Return true if the supplied ContactGeometry object is a brick. | |
static const Brick & | getAs (const ContactGeometry &geo) |
Cast the supplied ContactGeometry object to a const brick. | |
static Brick & | updAs (ContactGeometry &geo) |
Cast the supplied ContactGeometry object to a writable brick. | |
static ContactGeometryTypeId | classTypeId () |
Obtain the unique id for Brick contact geometry. |
This ContactGeometry subclass represents a rectangular solid centered at the origin.
This object is finite, convex, and non-smooth.
SimTK::ContactGeometry::Brick::Brick | ( | const Vec3 & | halfLengths | ) | [explicit] |
Create a brick-shaped contact shape of the given half-dimensions, expressed in the brick's local frame.
const Vec3& SimTK::ContactGeometry::Brick::getHalfLengths | ( | ) | const |
Get the half-dimensions of this Brick, expressed in its own frame.
These are also the coordinates of the vertex in the +,+,+ octant, measured from the Brick-frame origin which is its center point.
void SimTK::ContactGeometry::Brick::setHalfLengths | ( | const Vec3 & | halfLengths | ) |
Change the shape or size of this brick by setting its half-dimensions.
const Geo::Box& SimTK::ContactGeometry::Brick::getGeoBox | ( | ) | const |
Get the Geo::Box object used to represent this Brick.
static bool SimTK::ContactGeometry::Brick::isInstance | ( | const ContactGeometry & | geo | ) | [inline, static] |
Return true if the supplied ContactGeometry object is a brick.
static const Brick& SimTK::ContactGeometry::Brick::getAs | ( | const ContactGeometry & | geo | ) | [inline, static] |
Cast the supplied ContactGeometry object to a const brick.
static Brick& SimTK::ContactGeometry::Brick::updAs | ( | ContactGeometry & | geo | ) | [inline, static] |
Cast the supplied ContactGeometry object to a writable brick.
static ContactGeometryTypeId SimTK::ContactGeometry::Brick::classTypeId | ( | ) | [static] |
Obtain the unique id for Brick contact geometry.
const Impl& SimTK::ContactGeometry::Brick::getImpl | ( | ) | const |
Internal use only.
Reimplemented from SimTK::ContactGeometry.
Impl& SimTK::ContactGeometry::Brick::updImpl | ( | ) |
Internal use only.
Reimplemented from SimTK::ContactGeometry.