contact-inl.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_CONTACT_INL_H
39 #define FCL_CONTACT_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 struct Contact<double>;
49 
50 //==============================================================================
51 template <typename S>
53  : o1(nullptr),
54  o2(nullptr),
55  b1(NONE),
56  b2(NONE)
57 {
58  // Do nothing
59 }
60 
61 //==============================================================================
62 template <typename S>
64  const CollisionGeometry<S>* o1_,
65  const CollisionGeometry<S>* o2_,
66  int b1_,
67  int b2_)
68  : o1(o1_),
69  o2(o2_),
70  b1(b1_),
71  b2(b2_)
72 {
73  // Do nothing
74 }
75 
76 //==============================================================================
77 template <typename S>
79  const CollisionGeometry<S>* o1_,
80  const CollisionGeometry<S>* o2_,
81  int b1_,
82  int b2_,
83  const Vector3<S>& pos_,
84  const Vector3<S>& normal_,
85  S depth_)
86  : o1(o1_),
87  o2(o2_),
88  b1(b1_),
89  b2(b2_),
90  normal(normal_),
91  pos(pos_),
92  penetration_depth(depth_)
93 {
94  // Do nothing
95 }
96 
97 //==============================================================================
98 template <typename S>
99 bool Contact<S>::operator <(const Contact& other) const
100 {
101  if(b1 == other.b1)
102  return b2 < other.b2;
103  return b1 < other.b1;
104 }
105 
106 } // namespace fcl
107 
108 #endif
fcl::Contact
Contact information returned by collision.
Definition: contact.h:48
fcl::Contact::b1
intptr_t b1
contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if o...
Definition: contact.h:61
fcl::Contact::b2
intptr_t b2
contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if o...
Definition: contact.h:68
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:58
fcl::Contact::operator<
bool operator<(const Contact &other) const
Definition: contact-inl.h:99
fcl::Contact::Contact
Contact()
Definition: contact-inl.h:52
contact.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
Author(s):
autogenerated on Tue Jun 22 2021 07:27:50