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
	ID of associated body.

custom_vector< int >	typ_rigid
	shape type

custom_vector< int >	local_rigid
	local shape index in collision model of associated body

custom_vector< int >	start_rigid
	start index in the appropriate container of dimensions

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
	radius for sphere shapes

custom_vector< real3 >	box_like_rigid
	dimensions for box-like shapes

custom_vector< real3 >	triangle_rigid
	vertices of all triangle shapes (3 per shape)

custom_vector< real2 >	capsule_rigid
	radius and half-length for capsule shapes

custom_vector< real4 >	rbox_like_rigid
	dimensions and radius for rbox-like shapes

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