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Contact geometry needs a void* pointer for identifying corresponding model component #98

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sherm1 opened this issue Jan 3, 2014 · 0 comments · Fixed by #346
Closed

Contact geometry needs a void* pointer for identifying corresponding model component #98

sherm1 opened this issue Jan 3, 2014 · 0 comments · Fixed by #346
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contact enhancement
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Simbody 4.0

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@sherm1
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sherm1 commented Jan 3, 2014

Similar to the pointer stored with DecorativeGeometry. (This is useful for mapping back from contact or ray-contact geometry intersection to the higher level model component it was generated from.) Gazebo uses this for Lidar modeling.
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contact enhancement
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Simbody 4.0
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Added index-on-body and userRef pointer to ContactSurface simbody/simbody
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