ContactDataS Struct Reference

#include <collisionStructures.h>

List of all members.

Public Member Functions
	ContactDataS ()
	ContactDataS (position b1p, position b2p, vec3 b1n, vec3 b2n, double dsq=-1.0)
Public Attributes
vec3	b1_normal
position	b1_pos
vec3	b2_normal
position	b2_pos
double	distSq
Neighborhood	nghbd1
Neighborhood	nghbd2

---

Detailed Description

A contact data structure will hold:

• the position on each body (in local coordinate system) where the contact is occuring.
• the local surface normal at the contact on each body
• the squared distance between the bodies
• optionally, a neighborhood of vertices on each body around the contact. This is used for computing analytical patches on each body around the contact.

Definition at line 57 of file collisionStructures.h.

---

Constructor & Destructor Documentation

ContactDataS::ContactDataS	(	position	b1p,
		position	b2p,
		vec3	b1n,
		vec3	b2n,
		double	dsq = -1.0
	)			[inline]

Definition at line 63 of file collisionStructures.h.

ContactDataS::ContactDataS

(

)

[inline]

Definition at line 65 of file collisionStructures.h.

---

Member Data Documentation

vec3 ContactDataS::b1_normal

Definition at line 60 of file collisionStructures.h.

position ContactDataS::b1_pos

Definition at line 59 of file collisionStructures.h.

vec3 ContactDataS::b2_normal

Definition at line 60 of file collisionStructures.h.

position ContactDataS::b2_pos

Definition at line 59 of file collisionStructures.h.

double ContactDataS::distSq

Definition at line 62 of file collisionStructures.h.

Neighborhood ContactDataS::nghbd1

Definition at line 61 of file collisionStructures.h.

Neighborhood ContactDataS::nghbd2

Definition at line 61 of file collisionStructures.h.

---

The documentation for this struct was generated from the following file:

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/collisionStructures.h