fcl::Contact< S > Struct Template Reference

Contact information returned by collision. More...

#include <contact.h>

Public Member Functions
	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

Public Attributes
intptr_t	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 query cell id (see OcTree::getNodeByQueryCellId) More...
intptr_t	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 query cell id (see OcTree::getNodeByQueryCellId) More...
Vector3< S >	normal
	contact normal, pointing from o1 to o2 More...
const CollisionGeometry< S > *	o1
	collision object 1 More...
const CollisionGeometry< S > *	o2
	collision object 2 More...
S	penetration_depth
	penetration depth More...
Vector3< S >	pos
	contact position, in world space More...

Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information More...

Detailed Description

template<typename S>
struct fcl::Contact< S >

Contact information returned by collision.

Definition at line 48 of file contact.h.

Constructor & Destructor Documentation

Contact() [1/3]

template<typename S >

fcl::Contact< S >::Contact

Definition at line 52 of file contact-inl.h.

Contact() [2/3]

template<typename S >

fcl::Contact< S >::Contact	(	const CollisionGeometry< S > *	o1_,
		const CollisionGeometry< S > *	o2_,
		int	b1_,
		int	b2_
	)

Definition at line 63 of file contact-inl.h.

Contact() [3/3]

template<typename S >

fcl::Contact< S >::Contact	(	const CollisionGeometry< S > *	o1_,
		const CollisionGeometry< S > *	o2_,
		int	b1_,
		int	b2_,
		const Vector3< S > &	pos_,
		const Vector3< S > &	normal_,
		S	depth_
	)

Definition at line 78 of file contact-inl.h.

Member Function Documentation

operator<()

template<typename S >

bool fcl::Contact< S >::operator<

(

const Contact< S > &

other

)

const

Definition at line 99 of file contact-inl.h.

Member Data Documentation

b1

template<typename S >

intptr_t fcl::Contact< S >::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 query cell id (see OcTree::getNodeByQueryCellId)

Definition at line 61 of file contact.h.

b2

template<typename S >

intptr_t fcl::Contact< S >::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 query cell id (see OcTree::getNodeByQueryCellId)

Definition at line 68 of file contact.h.

NONE

template<typename S >

const int fcl::Contact< S >::NONE = -1

static

invalid contact primitive information

Definition at line 81 of file contact.h.

normal

template<typename S >

Vector3<S> fcl::Contact< S >::normal

contact normal, pointing from o1 to o2

Definition at line 71 of file contact.h.

o1

template<typename S >

const CollisionGeometry<S>* fcl::Contact< S >::o1

collision object 1

Definition at line 51 of file contact.h.

o2

template<typename S >

const CollisionGeometry<S>* fcl::Contact< S >::o2

collision object 2

Definition at line 54 of file contact.h.

penetration_depth

template<typename S >

S fcl::Contact< S >::penetration_depth

penetration depth

Definition at line 77 of file contact.h.

pos

template<typename S >

Vector3<S> fcl::Contact< S >::pos

contact position, in world space

Definition at line 74 of file contact.h.

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

• contact.h
• contact-inl.h