1 Datatypes and Prototypes in pcm.h
-----------------------------------

- Datatypes for Contact Surfaces and Contacts

- Function Prototypes


2 Defines in pcm_env.h
----------------------

- Definition of Environment- and Platform-specific Settings


3 Libraries/Utilities
---------------------

-pcm_mathlib                           Elementary Mathematics Library

-pcm_print                             Print Messages


4 Pre-Processing
----------------

-pcm_defcont                           Define Contact
   |
   +-pcm_rootget                       Get Root Pointers
   |
   +-pcm_rootset                       Set Root Pointers
   |
   +-pcm_addcosu                       Read Contact Surfaces
   |   |
   |   +-(pcm_readcsli)                Read one Line of an ASCII-File
   |   |
   |   +-(pcm_creacosu)                Create a new Dataobjects for Contact Surfaces
   |
   +-pcm_cosupre                       Pre-Processing for Contact Surface
   |   |
   |   +-pcm_creadcel                  Create DCELs for Contact Surface
   |   |
   |   +-pcm_calcsgeo                  Calculate advanced Contact Surface Geometry
   |   |
   |   +-pcm_creabvtr                  Create Bounding Volume Tree for Contact Surface
   |       |
   |       +-(pcm_creabvkn)            Create Knot of Bounding Volume Tree
   |           |
   |           +-pcm_centsort          Sort Coordinates of Barycentres
   |               |
   |               +-(pcm_creahslv)    Create Level in Heapsort Tree
   |               |
   |               +-(pcm_sortheap)    Sort Heapsort Tree
   |
   +-pcm_addcont


5 Contact Evaluation
--------------------

-pcm_calcont                           Calculate Contact
   |
   +-pcm_rootget                       Get Root Pointers
   |
   +-pcm_coldet                        Check for Collision of two Surfaces
   |   |
   |   +-(pcm_cdcheck)                 Check for Collision of two Bounding Volumes
   |       |
   |       +-(pcm_ticheck)             Check for Intersection of two Triangles
   |           |
   |           +-pcm_tritri            Triangle/Triangle Intersection-Test
   |
   +-pcm_creaispo                      Create Intersection Polygons
   |   |
   |   +-(pcm_eudisqr)                 Calculate squared Euclidan Distance of two Position Vectors
   |   |
   |   +-(pcm_swpvec)                  Interchange Coordinates of two Position Vectors
   |
   +-pcm_cractelm                      Create active Elements of pcm Contact Surfaces
   |   |
   |   +-(pcm_addifip)                 Add intersected Polygons to Intersection
   |   |   |
   |   |   +-(pcm_addactid)            Add ID to Binary Tree of active Faces or Vertices
   |   |
   |   +-(pcm_srchmvip)                Search and move associated Intersection Polygon to Intersection
   |   |   |
   |   |   +-(pcm_disinsec)            Determine Distance of Point to nearest inner Intersection with Polygon
   |   |   |
   |   |   +-(pcm_addifip)             Add intersected Polygons to Intersection
   |   |
   |   +-(pcm_srchinae)                Recursively search for inner Vertices and Faces
   |   |   |
   |   +   +-(pcm_srchmvip)            Search and move associated Intersection Polygon to Intersection
   |   |   |
   |   |   +-(pcm_addactid)            Add ID to Binary Tree of active Faces or Vertices
   |   |
   |   +-(pcm_linactid)                Copy active Elements from Binary Trees to global Dataobjects
   |
   +-pcm_crcemasl                      Create Contact Elements using Master/Slave-Algorithm
   |   |
   |   +-pcm_calcntel                  Create active Elements of Contact Surfaces
   |
   +-pcm_calctfrc                      Calculate Contact Force
   |
   +-pcm_frcntmem                      Free Contact State Memory


6 Post-Processing
-----------------

-pcm_freemem                           Free Memory
   |
   +-pcm_rootget                       Get Root Pointers
   |
   +-pcm_frcntmem                      Free Contact State Memory
   |
   +-(pcm_frbvtmem)                    Free Memory of Bounding Volume Tree
   |
   +-pcm_rootset                       Set Root Pointers