Simbody  3.5
SimTK::ContactGeometry::HalfSpace Class Reference

This ContactGeometry subclass represents an object that occupies the entire half-space x>0. More...

+ Inheritance diagram for SimTK::ContactGeometry::HalfSpace:

List of all members.

Public Member Functions

 HalfSpace ()
 Create a HalfSpace for contact, with surface passing through the origin and outward normal -XAxis (in its own frame).
UnitVec3 getNormal () const
 Return the HalfSpace outward normal in its own frame as a unit vector.
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 halfspace.
static const HalfSpacegetAs (const ContactGeometry &geo)
 Cast the supplied ContactGeometry object to a const halfspace.
static HalfSpaceupdAs (ContactGeometry &geo)
 Cast the supplied ContactGeometry object to a writable halfspace.
static ContactGeometryTypeId classTypeId ()
 Obtain the unique id for HalfSpace contact geometry.

Detailed Description

This ContactGeometry subclass represents an object that occupies the entire half-space x>0.

This is useful for representing walls and floors. This object has infinite extent.


Constructor & Destructor Documentation

Create a HalfSpace for contact, with surface passing through the origin and outward normal -XAxis (in its own frame).

Thus the half-space is all of x>0. When this is placed on a Body, a Transform is provided that repositions the half-space to the desired location and orientation in the Body's frame.


Member Function Documentation

Return the HalfSpace outward normal in its own frame as a unit vector.

static bool SimTK::ContactGeometry::HalfSpace::isInstance ( const ContactGeometry geo) [inline, static]

Return true if the supplied ContactGeometry object is a halfspace.

static const HalfSpace& SimTK::ContactGeometry::HalfSpace::getAs ( const ContactGeometry geo) [inline, static]

Cast the supplied ContactGeometry object to a const halfspace.

Cast the supplied ContactGeometry object to a writable halfspace.

Obtain the unique id for HalfSpace contact geometry.

Internal use only.

Reimplemented from SimTK::ContactGeometry.

Internal use only.

Reimplemented from SimTK::ContactGeometry.


The documentation for this class was generated from the following file:
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