.. _program_listing_file_include_coal_contact_patch.h:

Program Listing for File contact_patch.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_coal_contact_patch.h>` (``include/coal/contact_patch.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
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   #ifndef COAL_CONTACT_PATCH_H
   #define COAL_CONTACT_PATCH_H
   
   #include "coal/data_types.h"
   #include "coal/collision_data.h"
   #include "coal/contact_patch/contact_patch_solver.h"
   #include "coal/contact_patch_func_matrix.h"
   
   namespace coal {
   
   COAL_DLLAPI void computeContactPatch(const CollisionGeometry* o1,
                                        const Transform3s& tf1,
                                        const CollisionGeometry* o2,
                                        const Transform3s& tf2,
                                        const CollisionResult& collision_result,
                                        const ContactPatchRequest& request,
                                        ContactPatchResult& result);
   
   // const CollisionGeometry*, const Transform3s&, const CollisionResult&, const
   // ContactPatchRequest&, ContactPatchResult&);
   COAL_DLLAPI void computeContactPatch(const CollisionObject* o1,
                                        const CollisionObject* o2,
                                        const CollisionResult& collision_result,
                                        const ContactPatchRequest& request,
                                        ContactPatchResult& result);
   
   class COAL_DLLAPI ComputeContactPatch {
    public:
     ComputeContactPatch(const CollisionGeometry* o1, const CollisionGeometry* o2);
   
     void operator()(const Transform3s& tf1, const Transform3s& tf2,
                     const CollisionResult& collision_result,
                     const ContactPatchRequest& request,
                     ContactPatchResult& result) const;
   
     bool operator==(const ComputeContactPatch& other) const {
       return this->o1 == other.o1 && this->o2 == other.o2 &&
              this->csolver == other.csolver;
     }
   
     bool operator!=(const ComputeContactPatch& other) const {
       return !(*this == other);
     }
   
     virtual ~ComputeContactPatch() = default;
   
    protected:
     // These pointers are made mutable to let the derived classes to update
     // their values when updating the collision geometry (e.g. creating a new
     // one). This feature should be used carefully to avoid any mis usage (e.g,
     // changing the type of the collision geometry should be avoided).
     mutable const CollisionGeometry* o1;
     mutable const CollisionGeometry* o2;
   
     mutable ContactPatchSolver csolver;
   
     ContactPatchFunctionMatrix::ContactPatchFunc func;
     bool swap_geoms;
   
     virtual void run(const Transform3s& tf1, const Transform3s& tf2,
                      const CollisionResult& collision_result,
                      const ContactPatchRequest& request,
                      ContactPatchResult& result) const;
   
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
   
   }  // namespace coal
   
   #endif