enum dynoCollisionOperation

Indicates what collision checking and/or contact computation should be done for a link added to a dynoContactor or dynoCollisionDetector.

Documentation

Indicates what collision checking and/or contact computation should be done for a link added to a dynoContactor or dynoCollisionDetector. The values can be bitwise-or'd to indicate multiple operations, and are passed as the 'flags' argument to dynoContactor::addLink() and dynoContactor::addRollingLink().

• DYNO_CHECK_OBSTACLE_COLLISIONS (1) - check the link for collisions with fixed obstacles
• DYNO_CHECK_LINK_COLLISIONS (2) - check the link for collisions with other links
• DYNO_COMPUTE_OBSTACLE_CONTACTS (4) - compute contact patches between the link and fixed obstacles
• DYNO_COMPUTE_LINK_CONTACTS (8) - Not currently supported

For links with DYNO_COMPUTE_*_CONTACTS set, contact patches will be computed at each simulation time step and contact constraints will be generated. In contrast, DYNO_CHECK_*_COLLISIONS does not automatically cause any collision checking to be done: the user must explicitly call dynoContactor::checkCollisions() to check if any objects are colliding.

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