00001 /* 00002 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. 00003 * All rights reserved. This program is made available under the terms of the 00004 * Eclipse Public License v1.0 which accompanies this distribution, and is 00005 * available at http://www.eclipse.org/legal/epl-v10.html 00006 * Contributors: 00007 * National Institute of Advanced Industrial Science and Technology (AIST) 00008 */ 00009 00010 #ifndef HRPCOLLISION_COLLISION_DATA_H_INCLUDED 00011 #define HRPCOLLISION_COLLISION_DATA_H_INCLUDED 00012 00013 #include <hrpUtil/Eigen3d.h> 00014 #include "config.h" 00015 00016 namespace hrp { 00017 00018 // this is for the client 00019 00020 class collision_data 00021 { 00022 public: 00023 int id1; 00024 int id2; 00025 00026 int num_of_i_points; 00027 Vector3 i_points[4]; 00028 int i_point_new[4]; 00029 00030 Vector3 n_vector; 00031 double depth; 00032 00033 Vector3 n; // normal vector of triangle id1 00034 Vector3 m; // normal vector of triangle id2 00035 int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact 00036 }; 00037 } 00038 00039 00040 #endif