Class to calculate intersections between a box and a sphere. More...

Inheritance diagram for SurgSim::Collision::BoxSphereDcdContact:

Public Member Functions
	BoxSphereDcdContact ()
	Constructor. More...

virtual std::pair< int, int >	getShapeTypes () override
	Function that returns the shapes between which this class performs collision detection. More...

Public Member Functions inherited from SurgSim::Collision::ContactCalculation
	ContactCalculation ()
	Constructor. More...

virtual	~ContactCalculation ()
	Destructor. More...

void	calculateContact (std::shared_ptr< CollisionPair > pair)
	Function that handles asymmetric pair and calls the actual contact calculation routine of the sub class. More...

Private Member Functions
virtual void	doCalculateContact (std::shared_ptr< CollisionPair > pair) override
	Calculate the actual contact between two shapes of the given CollisionPair. More...

Detailed Description

Class to calculate intersections between a box and a sphere.

Constructor & Destructor Documentation

SurgSim::Collision::BoxSphereDcdContact::BoxSphereDcdContact ( )

Constructor.

void SurgSim::Collision::BoxSphereDcdContact::doCalculateContact ( std::shared_ptr< CollisionPair > pair )

overrideprivatevirtual

Calculate the actual contact between two shapes of the given CollisionPair.

Parameters

pair	The symmetric pair that is under consideration.

Note: If there is a contact, the normal in the local space is always normal to the box face closest to the sphere center. That means that if a penetration near the corner increases or decreases in depth the normal may switch directions instantly, leading to instabilities.

std::pair< int, int > SurgSim::Collision::BoxSphereDcdContact::getShapeTypes ( )

overridevirtual

Function that returns the shapes between which this class performs collision detection.

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