This feature controls whether contacts between kinematic links and static or other kinematic links are detected. Neither link of such a contact responds to it, so it has no effect on the simulation, but it can be retrieved with GetContactsFromLastStepFeature, e.g. for contact sensors. Detecting these contacts costs collision detection time on every step for as long as the links overlap, which for a kinematic link resting in or on static geometry is forever, so disabling them speeds up worlds with many kinematic links. More...
#include <KinematicLink.hh>
Classes | |
| class | Implementation |
| class | World |
| The World API for enabling kinematic contacts. More... | |
Additional Inherited Members | |
 Public Types inherited from Feature | |
| using | RequiredFeatures = void |
| By default, a blank feature will not require any other features. If your feature does require some other set of features, then you should inherit the FeatureWithRequirements class, and provide it with a list of the Features that you require. | |
| Static Public Member Functions inherited from Feature | |
| template<typename SomeFeatureList , bool = false> | |
| static constexpr bool | ConflictsWith () |
| By default, a blank feature will not conflict with any other features. If your feature does conflict with some other set of features, then you should inherit the FeatureWithConflicts<...> class, and provide it a list of those conflicting features. | |
Detailed Description
This feature controls whether contacts between kinematic links and static or other kinematic links are detected. Neither link of such a contact responds to it, so it has no effect on the simulation, but it can be retrieved with GetContactsFromLastStepFeature, e.g. for contact sensors. Detecting these contacts costs collision detection time on every step for as long as the links overlap, which for a kinematic link resting in or on static geometry is forever, so disabling them speeds up worlds with many kinematic links.
The documentation for this class was generated from the following file: