Public Member Functions | Public Attributes | Static Public Attributes | List of all members
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...
 
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_,
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.


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


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02