CollisionData.h

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 */

#ifndef HRPCOLLISION_COLLISION_DATA_H_INCLUDED
#define HRPCOLLISION_COLLISION_DATA_H_INCLUDED

#include <hrpUtil/Eigen3d.h>
#include "config.h"

namespace hrp {

    // this is for the client
    
    class collision_data
    {
      public:
        int id1;
        int id2;
        
        int num_of_i_points;
        Vector3 i_points[4];
        int i_point_new[4];
        
        Vector3 n_vector;
        double depth;
        
        Vector3 n; // normal vector of triangle id1
        Vector3 m; // normal vector of triangle id2
        int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact
    };
}
    

#endif