simbody/simbody — pull request #218 by sherm1 (2014-08-08 05:09:28+00:00)
Title: Add Brick shape for ContactGeometry

This is a first installment in proper geometry handling for convex meshes that can be used with either compliant or rigid contact.

- Added convex mesh features to Geo::Box.
- Added penalty force generator for Brick-HalfSpace Contact.
- Added adhoc test ContactBrickTest showing mesh topology and displaying generated forces & force details.
- Misc. contact cleanup.