ODEContactStrategy.hpp File Reference

Detection of contacts using the internal ODE collision detector. More...

#include <rwsim/contacts/ContactStrategy.hpp>
#include <ode/collision.h>

Classes
class	ODEContactStrategy
	Detection of contacts using the internal ODE collision detector. More...

Namespaces
	rwsim
	RobWorkSim is the dynamic simulation framework of RobWork.
	rwsim::simulator
	Dynamic simulation.

Detailed Description

Detection of contacts using the internal ODE collision detector.

Please note that currently only Tube to Plane and Cylinder to Plane detection is supported.

Also remember to call the static initODE function before doing any detection. This should only be done once, and if the ODESimulator is used, ODE will be initialized there. If using the ODEContactStrategy with other simulators, always remember to call initODE.