contact.h

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#ifndef FCL_CONTACT_H
#define FCL_CONTACT_H
 
#include "fcl/narrowphase/collision_object.h"
 
namespace fcl
{
 
template <typename S>
struct FCL_EXPORT Contact
{
  const CollisionGeometry<S>* o1;
 
  const CollisionGeometry<S>* o2;
 
  intptr_t b1;
 
  intptr_t b2;
 
  Vector3<S> normal;
 
  Vector3<S> pos;
 
  S penetration_depth;
 
 
  static const int NONE = -1;
 
  Contact();
 
  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);
 
  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_,
          const Vector3<S>& pos_, const Vector3<S>& normal_, S depth_);
 
  bool operator < (const Contact& other) const;
};
 
using Contactf = Contact<float>;
using Contactd = Contact<double>;
 
} // namespace fcl
 
#include "fcl/narrowphase/contact-inl.h"
 
#endif