hpp::fcl::Contact Struct Reference

Contact information returned by collision. More...

#include <collision_data.h>

Public Member Functions
	Contact ()
	Default constructor. More...
	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
bool	operator< (const Contact &other) const
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 More...
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 More...
Vec3f	normal
	contact normal, pointing from o1 to o2 More...
const CollisionGeometry *	o1
	collision object 1 More...
const CollisionGeometry *	o2
	collision object 2 More...
FCL_REAL	penetration_depth
	penetration depth More...
Vec3f	pos
	contact position, in world space More...

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

Detailed Description

Contact information returned by collision.

Definition at line 54 of file collision_data.h.

Constructor & Destructor Documentation

Contact() [1/3]

hpp::fcl::Contact::Contact ( )

inline

Default constructor.

Definition at line 86 of file collision_data.h.

Contact() [2/3]

hpp::fcl::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_  )

inline

Definition at line 88 of file collision_data.h.

Contact() [3/3]

hpp::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 92 of file collision_data.h.

Member Function Documentation

operator!=()

bool hpp::fcl::Contact::operator!= ( const Contact &  other ) const

inline

Definition at line 113 of file collision_data.h.

operator<()

bool hpp::fcl::Contact::operator< ( const Contact &  other ) const

inline

Definition at line 102 of file collision_data.h.

operator==()

bool hpp::fcl::Contact::operator== ( const Contact &  other ) const

inline

Definition at line 107 of file collision_data.h.

Member Data Documentation

b1

int hpp::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 65 of file collision_data.h.

b2

int hpp::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.

NONE

const int hpp::fcl::Contact::NONE = -1

static

invalid contact primitive information

Definition at line 83 of file collision_data.h.

normal

Vec3f hpp::fcl::Contact::normal

contact normal, pointing from o1 to o2

Definition at line 74 of file collision_data.h.

o1

const CollisionGeometry* hpp::fcl::Contact::o1

collision object 1

Definition at line 56 of file collision_data.h.

o2

const CollisionGeometry* hpp::fcl::Contact::o2

collision object 2

Definition at line 59 of file collision_data.h.

penetration_depth

FCL_REAL hpp::fcl::Contact::penetration_depth

penetration depth

Definition at line 80 of file collision_data.h.

pos

Vec3f hpp::fcl::Contact::pos

contact position, in world space

Definition at line 77 of file collision_data.h.

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

• collision_data.h