Contact information returned by collision. More...

#include <collision_data.h>

Public Member Functions
	Contact ()
	Contact (const CollisionGeometry o1_, const CollisionGeometry o2_, int b1_, int b2_)
	Contact (const CollisionGeometry o1_, const CollisionGeometry o2_, int b1_, int b2_, const Vec3f &pos_, const Vec3f &normal_, FCL_REAL depth_)
bool	operator< (const Contact &other) const
Public Attributes
int	b1
	contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell
int	b2
	contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell
Vec3f	normal
	contact normal, pointing from o1 to o2
const CollisionGeometry *	o1
	collision object 1
const CollisionGeometry *	o2
	collision object 2
FCL_REAL	penetration_depth
	penetration depth
Vec3f	pos
	contact position, in world space
Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information

Detailed Description

Contact information returned by collision.

Definition at line 52 of file collision_data.h.

Constructor & Destructor Documentation

fcl::Contact::Contact ( ) [inline]

Definition at line 86 of file collision_data.h.

fcl::Contact::Contact	(	const CollisionGeometry *	o1_,
		const CollisionGeometry *	o2_,
		int	b1_,
		int	b2_
	)		`[inline]`

Definition at line 92 of file collision_data.h.

fcl::Contact::Contact	(	const CollisionGeometry *	o1_,
		const CollisionGeometry *	o2_,
		int	b1_,
		int	b2_,
		const Vec3f &	pos_,
		const Vec3f &	normal_,
		FCL_REAL	depth_
	)		`[inline]`

Definition at line 98 of file collision_data.h.

Member Function Documentation

bool fcl::Contact::operator< ( const Contact & other ) const [inline]

Definition at line 108 of file collision_data.h.

Member Data Documentation

int fcl::Contact::b1

contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell

Definition at line 64 of file collision_data.h.

int fcl::Contact::b2

contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell

Definition at line 71 of file collision_data.h.

const int fcl::Contact::NONE = -1 [static]

invalid contact primitive information

Definition at line 84 of file collision_data.h.

Vec3f fcl::Contact::normal

contact normal, pointing from o1 to o2

Definition at line 74 of file collision_data.h.

const CollisionGeometry* fcl::Contact::o1

collision object 1

Definition at line 55 of file collision_data.h.

const CollisionGeometry* fcl::Contact::o2

collision object 2