contact_point.h
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35 
38 #ifndef FCL_CONTACTPOINT_H
39 #define FCL_CONTACTPOINT_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
47 template <typename S>
48 struct FCL_EXPORT ContactPoint
49 {
52 
55 
58 
60  ContactPoint();
61 
63  ContactPoint(const Vector3<S>& n_, const Vector3<S>& p_, S d_);
64 };
65 
68 
70 template <typename S>
71 FCL_EXPORT
72 bool comparePenDepth(
73  const ContactPoint<S>& _cp1, const ContactPoint<S>& _cp2);
74 
75 template <typename S>
76 FCL_EXPORT
77 void flipNormal(std::vector<ContactPoint<S>>& contacts);
78 
79 } // namespace fcl
80 
82 
83 #endif
fcl::ContactPoint
Minimal contact information returned by collision.
Definition: contact_point.h:48
fcl::flipNormal
template void flipNormal(std::vector< ContactPoint< double >> &contacts)
types.h
fcl::comparePenDepth
template bool comparePenDepth(const ContactPoint< double > &_cp1, const ContactPoint< double > &_cp2)
fcl::ContactPoint::normal
Vector3< S > normal
Contact normal, pointing from o1 to o2.
Definition: contact_point.h:51
fcl::ContactPoint::penetration_depth
S penetration_depth
Penetration depth.
Definition: contact_point.h:57
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::ContactPoint::pos
Vector3< S > pos
Contact position, in world space.
Definition: contact_point.h:54
contact_point-inl.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48