contact.h
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35 
38 #ifndef FCL_CONTACT_H
39 #define FCL_CONTACT_H
40 
42 
43 namespace fcl
44 {
45 
47 template <typename S>
48 struct FCL_EXPORT Contact
49 {
52 
55 
62 
69 
72 
75 
78 
79 
81  static const int NONE = -1;
82 
83  Contact();
84 
85  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);
86 
87  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_,
88  const Vector3<S>& pos_, const Vector3<S>& normal_, S depth_);
89 
90  bool operator < (const Contact& other) const;
91 };
92 
95 
96 } // namespace fcl
97 
99 
100 #endif
collision_object.h
fcl::Contact
Contact information returned by collision.
Definition: contact.h:48
fcl::Contact::normal
Vector3< S > normal
contact normal, pointing from o1 to o2
Definition: contact.h:71
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::pos
Vector3< S > pos
contact position, in world space
Definition: contact.h:74
fcl::Contact::o2
const CollisionGeometry< S > * o2
collision object 2
Definition: contact.h:54
fcl::Contact::o1
const CollisionGeometry< S > * o1
collision object 1
Definition: contact.h:51
contact-inl.h
fcl::intptr_t
std::intptr_t intptr_t
Definition: types.h:63
fcl::Contact::penetration_depth
S penetration_depth
penetration depth
Definition: contact.h:77
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:50