Simbody  3.5
SimTK::ContactGeometry::Brick Class Reference

This ContactGeometry subclass represents a rectangular solid centered at the origin. More...

+ Inheritance diagram for SimTK::ContactGeometry::Brick:

List of all members.

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 Vec3getHalfLengths () 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::BoxgetGeoBox () 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 BrickgetAs (const ContactGeometry &geo)
 Cast the supplied ContactGeometry object to a const brick.
static BrickupdAs (ContactGeometry &geo)
 Cast the supplied ContactGeometry object to a writable brick.
static ContactGeometryTypeId classTypeId ()
 Obtain the unique id for Brick contact geometry.

Detailed Description

This ContactGeometry subclass represents a rectangular solid centered at the origin.

This object is finite, convex, and non-smooth.


Constructor & Destructor Documentation

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.


Member Function Documentation

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.

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.

Obtain the unique id for Brick 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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