16 #ifndef SURGSIM_COLLISION_SPHEREPLANECONTACT_H 17 #define SURGSIM_COLLISION_SPHEREPLANECONTACT_H
Definition: CompoundShapeToGraphics.cpp:29
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
The XZ plane (d = 0) with normal pointing along positive Y axis.
Definition: PlaneShape.h:36