SimTK::ContactGeometry::SmoothHeightMap Class Reference

This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using bicubic patches to provide C2 continuity. More...

#include <ContactGeometry.h>

Inheritance diagram for SimTK::ContactGeometry::SmoothHeightMap:

List of all members.

Public Member Functions
	SmoothHeightMap (const BicubicSurface &surface)
	Create a SmoothHeightMap surface using an already-existing BicubicSurface.
const BicubicSurface &	getBicubicSurface () const
	Return a reference to the BicubicSurface object being used by this SmoothHeightMap.
const OBBTree &	getOBBTree () const
	(Advanced) Return a reference to the oriented bounding box tree for this surface.
const Impl &	getImpl () const
Impl &	updImpl ()
	Internal use only.
Static Public Member Functions
static bool	isInstance (const ContactGeometry &geo)
	Return true if the supplied ContactGeometry object is a SmoothHeightMap.
static const SmoothHeightMap &	getAs (const ContactGeometry &geo)
	Cast the supplied ContactGeometry object to a const SmoothHeightMap.
static SmoothHeightMap &	updAs (ContactGeometry &geo)
	Cast the supplied ContactGeometry object to a writable SmoothHeightMap.
static ContactGeometryTypeId	classTypeId ()
	Obtain the unique id for SmoothHeightMap contact geometry.

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Detailed Description

This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using bicubic patches to provide C2 continuity.

It is particularly useful as a bounded terrain. The boundary is an axis-aligned rectangle in the local x-y plane. Within the boundary, every (x,y) location has a unique height z, so caves and overhangs cannot be represented.

The surface is parameterized as z=f(x,y) where x,y,z are measured in the surface's local coordinate frame. This can also be described as the implicit function F(x,y,z)=f(x,y)-z=0, as though this were an infinitely thick slab in the -z direction below the surface.

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Constructor & Destructor Documentation

SimTK::ContactGeometry::SmoothHeightMap::SmoothHeightMap

(

const BicubicSurface &

surface

)

[explicit]

Create a SmoothHeightMap surface using an already-existing BicubicSurface.

The BicubicSurface object is referenced, not copied, so it may be shared with other users.

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Member Function Documentation

const BicubicSurface& SimTK::ContactGeometry::SmoothHeightMap::getBicubicSurface

(

)

const

Return a reference to the BicubicSurface object being used by this SmoothHeightMap.

const OBBTree& SimTK::ContactGeometry::SmoothHeightMap::getOBBTree

(

)

const

(Advanced) Return a reference to the oriented bounding box tree for this surface.

static bool SimTK::ContactGeometry::SmoothHeightMap::isInstance

(

const ContactGeometry &

geo

)

[inline, static]

Return true if the supplied ContactGeometry object is a SmoothHeightMap.

static const SmoothHeightMap& SimTK::ContactGeometry::SmoothHeightMap::getAs

(

const ContactGeometry &

geo

)

[inline, static]

Cast the supplied ContactGeometry object to a const SmoothHeightMap.

static SmoothHeightMap& SimTK::ContactGeometry::SmoothHeightMap::updAs

(

ContactGeometry &

geo

)

[inline, static]

Cast the supplied ContactGeometry object to a writable SmoothHeightMap.

static ContactGeometryTypeId SimTK::ContactGeometry::SmoothHeightMap::classTypeId

(

)

[static]

Obtain the unique id for SmoothHeightMap contact geometry.

const Impl& SimTK::ContactGeometry::SmoothHeightMap::getImpl

(

)

const

Internal use only.

Reimplemented from SimTK::ContactGeometry.

Impl& SimTK::ContactGeometry::SmoothHeightMap::updImpl

(

)

Internal use only.

Reimplemented from SimTK::ContactGeometry.

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The documentation for this class was generated from the following file:

• ContactGeometry.h