rocky_contact_intermediate_data_api.hpp

#pragma once
 
// Includes ========================================================================================
#include <rocky20/model/contact_data.h>
 
// ================================================================================================
// IRockyContactIntermediateData
// ================================================================================================
 
struct IRockyContactIntermediateData
{
    ROCKY_FUNCTIONS double3 get_home_centroid_to_contact_point_vector() const;
 
    ROCKY_FUNCTIONS double3 get_near_centroid_to_contact_point_vector() const;
 
    ROCKY_FUNCTIONS double get_friction_coefficient() const;
 
    cuda_contact_intermediate_data _idata;
 
};
 
inline ROCKY_FUNCTIONS double3 IRockyContactIntermediateData::get_home_centroid_to_contact_point_vector() const
{
    return this->_idata.home_arm;
}
 
inline ROCKY_FUNCTIONS double3 IRockyContactIntermediateData::get_near_centroid_to_contact_point_vector() const
{
    return this->_idata.near_arm;
}
 
inline ROCKY_FUNCTIONS double IRockyContactIntermediateData::get_friction_coefficient() const
{
    return this->_idata.friction_coefficient;
}
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rocky_contact_intermediate_data_api

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