CollisionData.h
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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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:53