16 #ifndef SURGSIM_COLLISION_CAPSULESPHERECONTACT_H 17 #define SURGSIM_COLLISION_CAPSULESPHERECONTACT_H
Definition: CompoundShapeToGraphics.cpp:29
Capsule shape: centered on (0, 0, 0), aligned along Y, with length and radius.
Definition: CapsuleShape.h:31
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:30
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46