FrictionConePolygon Struct Reference

Polygonal pyramid representation of the friction cone. More...

#include <Contact.h>

Public Member Functions
void	set (int k, const Vector3 &n, Real kFriction)
bool	contains (const Vector3 &f) const
bool	onBoundary (const Vector3 &f) const

Public Attributes
std::vector< Vector3 >	edges
std::vector< Vector3 >	planes

Detailed Description

Polygonal pyramid representation of the friction cone.

There are two representations: the positive span of FC edges, or forces on the positive side of all halfspaces. That is, the halfspace plane normals point inward.

---

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

• Contact.h
• Contact.cpp