collision result More...
#include <collision_data.h>
Public Member Functions | |
| void | addContact (const Contact &c) |
| add one contact into result structure More... | |
| void | clear () |
| clear the results obtained More... | |
| CollisionResult () | |
| const Contact & | getContact (size_t i) const |
| get the i-th contact calculated More... | |
| const std::vector< Contact > & | getContacts () const |
| void | getContacts (std::vector< Contact > &contacts_) const |
| get all the contacts More... | |
| bool | isCollision () const |
| return binary collision result More... | |
| size_t | numContacts () const |
| number of contacts found More... | |
| bool | operator== (const CollisionResult &other) const |
| whether two CollisionResult are the same or not More... | |
| void | setContact (size_t i, const Contact &c) |
| set the i-th contact calculated More... | |
| void | swapObjects () |
| reposition Contact objects when fcl inverts them during their construction. More... | |
| void | updateDistanceLowerBound (const CoalScalar &distance_lower_bound_) |
| Update the lower bound only if the distance is inferior. More... | |
 Public Member Functions inherited from coal::QueryResult | |
| QueryResult () | |
Public Attributes | |
| CoalScalar | distance_lower_bound |
| std::array< Vec3s, 2 > | nearest_points |
nearest points. A CollisionResult can have multiple contacts. The nearest points in CollisionResults correspond to the witness points associated with the smallest distance i.e the distance_lower_bound. For bounding volumes and BVHs, these nearest points are available only when distance_lower_bound is inferior to CollisionRequest::break_distance. More... | |
| Vec3s | normal |
normal associated to nearest_points. Same as CollisionResult::nearest_points but for the normal. More... | |
| Public Attributes inherited from coal::QueryResult | |
| Vec3s | cached_gjk_guess |
| stores the last GJK ray when relevant. More... | |
| support_func_guess_t | cached_support_func_guess |
| stores the last support function vertex index, when relevant. More... | |
| CPUTimes | timings |
| timings for the given request More... | |
Private Attributes | |
| std::vector< Contact > | contacts |
| contact information More... | |
Detailed Description
collision result
Definition at line 390 of file coal/collision_data.h.
Constructor & Destructor Documentation
◆ CollisionResult()
|
inline |
Definition at line 417 of file coal/collision_data.h.
Member Function Documentation
◆ addContact()
|
inline |
add one contact into result structure
Definition at line 431 of file coal/collision_data.h.
◆ clear()
|
inline |
clear the results obtained
Definition at line 483 of file coal/collision_data.h.
◆ getContact()
|
inline |
get the i-th contact calculated
Definition at line 449 of file coal/collision_data.h.
◆ getContacts() [1/2]
|
inline |
Definition at line 480 of file coal/collision_data.h.
◆ getContacts() [2/2]
|
inline |
get all the contacts
Definition at line 475 of file coal/collision_data.h.
◆ isCollision()
|
inline |
return binary collision result
Definition at line 443 of file coal/collision_data.h.
◆ numContacts()
|
inline |
number of contacts found
Definition at line 446 of file coal/collision_data.h.
◆ operator==()
|
inline |
whether two CollisionResult are the same or not
Definition at line 434 of file coal/collision_data.h.
◆ setContact()
|
inline |
set the i-th contact calculated
Definition at line 462 of file coal/collision_data.h.
◆ swapObjects()
| void coal::CollisionResult::swapObjects | ( | ) |
reposition Contact objects when fcl inverts them during their construction.
Definition at line 51 of file src/collision.cpp.
◆ updateDistanceLowerBound()
|
inline |
Update the lower bound only if the distance is inferior.
Definition at line 424 of file coal/collision_data.h.
Member Data Documentation
◆ contacts
|
private |
contact information
Definition at line 393 of file coal/collision_data.h.
◆ distance_lower_bound
| CoalScalar coal::CollisionResult::distance_lower_bound |
Lower bound on distance between objects if they are disjoint. See Collision
- Note
- Always computed. If CollisionRequest::distance_upper_bound is set to infinity, distance_lower_bound is the actual distance between the shapes.
Definition at line 401 of file coal/collision_data.h.
◆ nearest_points
| std::array<Vec3s, 2> coal::CollisionResult::nearest_points |
nearest points. A CollisionResult can have multiple contacts. The nearest points in CollisionResults correspond to the witness points associated with the smallest distance i.e the distance_lower_bound. For bounding volumes and BVHs, these nearest points are available only when distance_lower_bound is inferior to CollisionRequest::break_distance.
Definition at line 414 of file coal/collision_data.h.
◆ normal
| Vec3s coal::CollisionResult::normal |
normal associated to nearest_points. Same as CollisionResult::nearest_points but for the normal.
Definition at line 405 of file coal/collision_data.h.
The documentation for this struct was generated from the following files: