contact_point-inl.h
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35 
38 #ifndef FCL_CONTACTPOINT_INL_H
39 #define FCL_CONTACTPOINT_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 struct ContactPoint<double>;
49 
50 //==============================================================================
51 extern template
52 bool comparePenDepth(
53  const ContactPoint<double>& _cp1, const ContactPoint<double>& _cp2);
54 
55 //==============================================================================
56 extern template
57 void flipNormal(std::vector<ContactPoint<double>>& contacts);
58 
59 //==============================================================================
60 template <typename S>
62  : normal(Vector3<S>::Zero()),
63  pos(Vector3<S>::Zero()),
64  penetration_depth(0.0)
65 {
66  // Do nothing
67 }
68 
69 //==============================================================================
70 template <typename S>
72  const Vector3<S>& n_, const Vector3<S>& p_, S d_)
73  : normal(n_), pos(p_), penetration_depth(d_)
74 {
75  // Do nothing
76 }
77 
78 //==============================================================================
79 template <typename S>
80 bool comparePenDepth(const ContactPoint<S>& _cp1, const ContactPoint<S>& _cp2)
81 {
82  return _cp1.penetration_depth < _cp2.penetration_depth;
83 }
84 
85 //==============================================================================
86 template <typename S>
87 void flipNormal(std::vector<ContactPoint<S>>& contacts)
88 {
89  for (auto& contact : contacts)
90  contact.normal *= -1.0;
91 }
92 
93 } // namespace fcl
94 
95 #endif
fcl::ContactPoint
Minimal contact information returned by collision.
Definition: contact_point.h:48
fcl::flipNormal
template void flipNormal(std::vector< ContactPoint< double >> &contacts)
fcl::comparePenDepth
template bool comparePenDepth(const ContactPoint< double > &_cp1, const ContactPoint< double > &_cp2)
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
contact_point.h
fcl::ContactPoint::ContactPoint
ContactPoint()
Constructor.
Definition: contact_point-inl.h:61
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Fri Jun 11 2021 02:38:02