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16 #ifndef SURGSIM_COLLISION_CAPSULESPHERECONTACT_H
17 #define SURGSIM_COLLISION_CAPSULESPHERECONTACT_H
Capsule shape: centered on (0, 0, 0), aligned along Y, with length and radius.
Definition: CapsuleShape.h:32
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Definition: CompoundShapeToGraphics.cpp:30
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:31