Description

Structure of arrays containing contact shape information.

#include <ChDataManager.h>

Public Attributes
custom_vector< short2 >	fam_rigid
	Family information.

custom_vector< uint >	id_rigid
	Body identifier for each shape.

custom_vector< int >	typ_rigid
	Shape type.

custom_vector< int >	start_rigid
	Index for shape start.

custom_vector< int >	length_rigid
	Usually 1, except for convex.

custom_vector< quaternion >	ObR_rigid
	Shape rotation.

custom_vector< real3 >	ObA_rigid
	Position of shape.

custom_vector< real >	sphere_rigid

custom_vector< real3 >	box_like_rigid

custom_vector< real3 >	triangle_rigid

custom_vector< real2 >	capsule_rigid

custom_vector< real4 >	rbox_like_rigid

custom_vector< real3 >	convex_rigid

custom_vector< int >	tetrahedron_rigid

custom_vector< real3 >	triangle_global

custom_vector< real3 >	obj_data_A_global

custom_vector< quaternion >	obj_data_R_global

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

Public Attributes