coal::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 Vec3s &p1, const Vec3s &p2, const Vec3s &normal_, CoalScalar depth_)
	Contact (const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3s &pos_, const Vec3s &normal_, CoalScalar depth_)
CoalScalar	getDistanceToCollision (const CollisionRequest &request) const
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...
std::array< Vec3s, 2 >	nearest_points
	nearest points associated to this contact. More...
Vec3s	normal
	contact normal, pointing from o1 to o2. The normal defined as the normalized separation vector: normal = (p2 - p1) / dist(o1, o2), where p1 = nearest_points[0] belongs to o1 and p2 = nearest_points[1] belongs to o2 and dist(o1, o2) is the signed distance between o1 and o2. The normal always points from o1 to o2. More...
const CollisionGeometry *	o1
	collision object 1 More...
const CollisionGeometry *	o2
	collision object 2 More...
CoalScalar	penetration_depth
	penetration depth More...
Vec3s	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 58 of file coal/collision_data.h.

Constructor & Destructor Documentation

Contact() [1/4]

coal::Contact::Contact ( )

inline

Default constructor.

Definition at line 111 of file coal/collision_data.h.

Contact() [2/4]

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

inline

Definition at line 117 of file coal/collision_data.h.

Contact() [3/4]

coal::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_, const Vec3s &  pos_, const Vec3s &  normal_, CoalScalar  depth_  )

inline

Definition at line 125 of file coal/collision_data.h.

Contact() [4/4]

coal::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_, const Vec3s &  p1, const Vec3s &  p2, const Vec3s &  normal_, CoalScalar  depth_  )

inline

Definition at line 137 of file coal/collision_data.h.

Member Function Documentation

getDistanceToCollision()

CoalScalar coal::Contact::getDistanceToCollision ( const CollisionRequest &  request ) const

inline

Definition at line 384 of file coal/collision_data.h.

operator!=()

bool coal::Contact::operator!= ( const Contact &  other ) const

inline

Definition at line 162 of file coal/collision_data.h.

operator<()

bool coal::Contact::operator< ( const Contact &  other ) const

inline

Definition at line 149 of file coal/collision_data.h.

operator==()

bool coal::Contact::operator== ( const Contact &  other ) const

inline

Definition at line 154 of file coal/collision_data.h.

Member Data Documentation

b1

int coal::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 69 of file coal/collision_data.h.

b2

int coal::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 75 of file coal/collision_data.h.

nearest_points

std::array<Vec3s, 2> coal::Contact::nearest_points

nearest points associated to this contact.

Note

Also referred as "witness points" in other collision libraries. The points p1 = nearest_points[0] and p2 = nearest_points[1] verify the property that dist(o1, o2) * (p1 - p2) is the separation vector between o1 and o2, with dist(o1, o2) being the signed distance separating o1 from o2. See DistanceResult::normal for the definition of the separation vector. If o1 and o2 have multiple contacts, the nearest_points are associated with the contact which has the greatest penetration depth. TODO (louis): rename nearest_points to witness_points.

Definition at line 99 of file coal/collision_data.h.

NONE

const int coal::Contact::NONE = -1

static

invalid contact primitive information

Definition at line 108 of file coal/collision_data.h.

normal

Vec3s coal::Contact::normal

contact normal, pointing from o1 to o2. The normal defined as the normalized separation vector: normal = (p2 - p1) / dist(o1, o2), where p1 = nearest_points[0] belongs to o1 and p2 = nearest_points[1] belongs to o2 and dist(o1, o2) is the signed distance between o1 and o2. The normal always points from o1 to o2.

Note

The separation vector is the smallest vector such that if o1 is translated by it, o1 and o2 are in touching contact (they share at least one contact point but have a zero intersection volume). If the shapes overlap, dist(o1, o2) = -((p2-p1).norm()). Otherwise, dist(o1, o2) = (p2-p1).norm().

Definition at line 88 of file coal/collision_data.h.

o1

const CollisionGeometry* coal::Contact::o1

collision object 1

Definition at line 60 of file coal/collision_data.h.

o2

const CollisionGeometry* coal::Contact::o2

collision object 2

Definition at line 63 of file coal/collision_data.h.

penetration_depth

CoalScalar coal::Contact::penetration_depth

penetration depth

Definition at line 105 of file coal/collision_data.h.

pos

Vec3s coal::Contact::pos

contact position, in world space

Definition at line 102 of file coal/collision_data.h.

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

• coal/collision_data.h