distance3d.hydroelastic_contact.ContactSurface¶
- class distance3d.hydroelastic_contact.ContactSurface(frame2world, intersection, contact_planes, contact_polygons, intersecting_tetrahedra1, intersecting_tetrahedra2)[source]¶
Contact surface of tetrahedral meshes.
- Parameters:
- frame2worldarray, shape (4, 4)
Transforms vertices, points, and directions to world frame.
- intersectionbool
Do both tetrahedral meshes intersect?
- contact_planesarray, shape (n_intersections, 4)
Contact planes of intersection pairs in Hesse normal form.
- contact_polygonslist
Contact polygons of intersection pairs.
- intersecting_tetrahedra1list
Intersecting tetrahedron indices of first mesh.
- intersecting_tetrahedra2list
Intersecting tetrahedron indices of second mesh.
- Attributes:
- pressures
Methods
add_polygon_info(contact_areas, ...)Add more info on contact polygons.
make_details(tetrahedra_points1, ...)Summarize details of contact points in world frame.
- __init__(frame2world, intersection, contact_planes, contact_polygons, intersecting_tetrahedra1, intersecting_tetrahedra2)[source]¶
Methods
__init__(frame2world, intersection, ...)add_polygon_info(contact_areas, ...)Add more info on contact polygons.
make_details(tetrahedra_points1, ...)Summarize details of contact points in world frame.
Attributes
pressures