Go to the documentation of this file. 1 #ifndef SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_
2 #define SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_
78 : m_surfaceTypes(typeOfSurface1, typeOfSurface2)
84 const std::pair<ContactGeometryTypeId,ContactGeometryTypeId>&
94 virtual bool trackContact
101 Contact& currentStatus)
const = 0;
129 static bool refineImplicitPair
133 Real& accuracyAchieved,
int& numIterations);
136 static Vec6 findImplicitPairError
145 static Mat66 calcImplicitPairJacobian
160 static bool estimateConvexImplicitPairContactUsingMPR
171 std::pair<ContactGeometryTypeId,ContactGeometryTypeId> m_surfaceTypes;
195 Contact& currentStatus)
const override;
219 Contact& currentStatus)
const override;
243 Contact& currentStatus)
const override;
267 Contact& currentStatus)
const override;
291 Contact& currentStatus)
const override;
297 Real hsFaceHeight_M, std::set<int>& insideFaces)
const;
299 std::set<int>& insideFaces)
const;
323 Contact& currentStatus)
const override;
330 std::set<int>& insideFaces)
const ;
354 Contact& currentStatus)
const override;
357 void findIntersectingFaces
364 std::set<int>& insideFaces1,
365 std::set<int>& insideFaces2)
const;
371 std::set<int>& insideFaces)
const;
375 std::set<int>& triangles,
396 typeOfConvexImplicitSurface) {}
405 Contact& currentStatus)
const override;
428 Contact& currentStatus)
const override;
455 Contact& currentStatus)
const override;
460 #endif // SimTK_SIMMATH_CONTACT_TRACKER_SUBSYSTEM_H_
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:620