distance result More...

#include <distance_request.h>

Public Member Functions
void	clear ()
	clear the result More...

	DistanceResult (S min_distance_=std::numeric_limits< S >::max())

void	update (const DistanceResult &other_result)
	add distance information into the result More...

void	update (S distance, const CollisionGeometry< S > o1_, const CollisionGeometry< S > o2_, int b1_, int b2_)
	add distance information into the result More...

void	update (S distance, const CollisionGeometry< S > o1_, const CollisionGeometry< S > o2_, int b1_, int b2_, const Vector3< S > &p1, const Vector3< S > &p2)
	add distance information into the result More...

Public Attributes
intptr_t	b1
	information about the nearest point 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
	information about the nearest point 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...

S	min_distance
	Minimum distance between two objects. More...

Vector3< S >	nearest_points [2]
	Nearest points in the world coordinates. More...

const CollisionGeometry< S > *	o1
	collision object 1 More...

const CollisionGeometry< S > *	o2
	collision object 2 More...

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

Detailed Description

template<typename S>
struct fcl::DistanceResult< S >

distance result

Definition at line 48 of file distance_request.h.

Constructor & Destructor Documentation

◆ DistanceResult()

template<typename S >

FCL_EXPORT fcl::DistanceResult< S >::DistanceResult ( S min_distance_ = std::numeric_limits<S>::max() )

Definition at line 53 of file distance_result-inl.h.

Member Function Documentation

◆ clear()

template<typename S >

FCL_EXPORT void fcl::DistanceResult< S >::clear

clear the result

Definition at line 127 of file distance_result-inl.h.

◆ update() [1/3]

template<typename S >

FCL_EXPORT void fcl::DistanceResult< S >::update ( const DistanceResult< S > & other_result )

add distance information into the result

Definition at line 110 of file distance_result-inl.h.

◆ update() [2/3]

template<typename S >

FCL_EXPORT void fcl::DistanceResult< S >::update	(	S	distance,
		const CollisionGeometry< S > *	o1_,
		const CollisionGeometry< S > *	o2_,
		int	b1_,
		int	b2_
	)

add distance information into the result

Definition at line 66 of file distance_result-inl.h.

◆ update() [3/3]

template<typename S >

FCL_EXPORT void fcl::DistanceResult< S >::update	(	S	distance,
		const CollisionGeometry< S > *	o1_,
		const CollisionGeometry< S > *	o2_,
		int	b1_,
		int	b2_,
		const Vector3< S > &	p1,
		const Vector3< S > &	p2
	)

add distance information into the result

Definition at line 86 of file distance_result-inl.h.

Member Data Documentation

◆ b1

template<typename S >

intptr_t fcl::DistanceResult< S >::b1

information about the nearest point 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 82 of file distance_result.h.

◆ b2

template<typename S >

intptr_t fcl::DistanceResult< S >::b2

information about the nearest point 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 89 of file distance_result.h.

◆ min_distance

template<typename S >

S fcl::DistanceResult< S >::min_distance

Minimum distance between two objects.

The distance is correct as a positive value when the two objects are not in collision. If they are in collision, min_distance would be a implementation defined negative value, which might not the correct negative distance. In order to get correct negative distance set DistanceRequest::enable_signed_distance to true.

See also: DistanceRequest::enable_signed_distance

Definition at line 64 of file distance_result.h.

◆ nearest_points

template<typename S >

Vector3<S> fcl::DistanceResult< S >::nearest_points[2]

Nearest points in the world coordinates.

See also: DistanceRequest::enable_nearest_points

Definition at line 69 of file distance_result.h.

◆ NONE

template<typename S >

const int fcl::DistanceResult< S >::NONE = -1

static

invalid contact primitive information

Definition at line 92 of file distance_result.h.

◆ o1

template<typename S >

const CollisionGeometry<S>* fcl::DistanceResult< S >::o1

collision object 1

Definition at line 72 of file distance_result.h.

◆ o2

template<typename S >

const CollisionGeometry<S>* fcl::DistanceResult< S >::o2

collision object 2

Definition at line 75 of file distance_result.h.

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

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

template<typename S> struct fcl::DistanceResult< S >

Constructor & Destructor Documentation

◆ DistanceResult()

Member Function Documentation

◆ clear()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ b1

◆ b2

◆ min_distance

◆ nearest_points

◆ NONE

◆ o1

◆ o2

template<typename S>
struct fcl::DistanceResult< S >