Struct MeshCollisionData

• Defined in File mesh_collision.hpp

Struct Documentation

struct MeshCollisionData

Contains the collision data for a mesh, including its BVH representation and AABB.

Note

AABB is axis-aligned bounding box, useful for quick rejection tests

Note

BVH is bounding volume hierarchy used for efficient collision detection and distance queries

Public Members

std::shared_ptr<coal::BVHModel<coal::OBBRSS>> bvh

std::shared_ptr<coal::CollisionObject> collisionObject

Eigen::Vector3d aabbMin

Eigen::Vector3d aabbMax

Eigen::Vector3d centroid = {Eigen::Vector3d::Zero()}

double radius = {0.0}

double maxExtent = {0.0}

std::vector<Eigen::Vector3d> vertices

std::vector<Eigen::Vector3i> triangles