Simbody  3.5
SimTK::ContactTracker::HalfSpaceEllipsoid Class Reference

This ContactTracker handles contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Ellipsoid, in that order. More...

+ Inheritance diagram for SimTK::ContactTracker::HalfSpaceEllipsoid:

List of all members.

Public Member Functions

 HalfSpaceEllipsoid ()
bool trackContact (const Contact &priorStatus, const Transform &X_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const ContactGeometry &surface2, Real cutoff, Contact &currentStatus) const override
 The ContactTrackerSubsystem will invoke this method for any pair of contact surfaces that is already being tracked, or for which the static broad phase analysis indicated that they might be in contact now.

Detailed Description

This ContactTracker handles contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Ellipsoid, in that order.


Constructor & Destructor Documentation


Member Function Documentation

bool SimTK::ContactTracker::HalfSpaceEllipsoid::trackContact ( const Contact priorStatus,
const Transform X_GS1,
const ContactGeometry surface1,
const Transform X_GS2,
const ContactGeometry surface2,
Real  cutoff,
Contact currentStatus 
) const [override, virtual]

The ContactTrackerSubsystem will invoke this method for any pair of contact surfaces that is already being tracked, or for which the static broad phase analysis indicated that they might be in contact now.

Only position information is available. Note that the arguments and Contact object surfaces must be ordered by geometry type id as required by this tracker.

Implements SimTK::ContactTracker.


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