coal::CollisionResult Struct Reference

collision result More...

#include <coal/collision_data.h>

Inheritance diagram for coal::CollisionResult:

Collaboration diagram for coal::CollisionResult:

Public Member Functions
	CollisionResult ()
void	updateDistanceLowerBound (const Scalar &distance_lower_bound_)
	Update the lower bound only if the distance is inferior. More...
void	addContact (const Contact &c)
	add one contact into result structure More...
bool	operator== (const CollisionResult &other) const
	whether two CollisionResult are the same or not More...
bool	isCollision () const
	return binary collision result More...
size_t	numContacts () const
	number of contacts found More...
const Contact &	getContact (size_t i) const
	get the i-th contact calculated More...
void	setContact (size_t i, const Contact &c)
	set the i-th contact calculated More...
void	getContacts (std::vector< Contact > &contacts_) const
	get all the contacts More...
const std::vector< Contact > &	getContacts () const
void	clear ()
	clear the results obtained More...
void	swapObjects ()
	reposition Contact objects when fcl inverts them during their construction. More...
Public Member Functions inherited from coal::QueryResult
	QueryResult ()

Public Attributes
Scalar	distance_lower_bound
Vec3s	normal
	normal associated to nearest_points. Same as CollisionResult::nearest_points but for the normal. More...
std::array< Vec3s, 2 >	nearest_points
	nearest points. A CollisionResult can have multiple contacts. The nearest points in CollisionResults correspond to the witness points associated with the smallest distance i.e the distance_lower_bound. For bounding volumes and BVHs, these nearest points are available only when distance_lower_bound is inferior to CollisionRequest::break_distance. More...
Public Attributes inherited from coal::QueryResult
Vec3s	cached_gjk_guess
	stores the last GJK ray when relevant. More...
support_func_guess_t	cached_support_func_guess
	stores the last support function vertex index, when relevant. More...
CPUTimes	timings
	timings for the given request More...

Detailed Description

collision result

Constructor & Destructor Documentation

CollisionResult()

coal::CollisionResult::CollisionResult ( )

inline

Member Function Documentation

addContact()

void coal::CollisionResult::addContact ( const Contact &  c )

inline

add one contact into result structure

clear()

void coal::CollisionResult::clear ( )

inline

clear the results obtained

getContact()

const Contact& coal::CollisionResult::getContact ( size_t  i ) const

inline

get the i-th contact calculated

getContacts() [1/2]

const std::vector<Contact>& coal::CollisionResult::getContacts ( ) const

inline

getContacts() [2/2]

void coal::CollisionResult::getContacts ( std::vector< Contact > &  contacts_ ) const

inline

get all the contacts

isCollision()

bool coal::CollisionResult::isCollision ( ) const

inline

return binary collision result

numContacts()

size_t coal::CollisionResult::numContacts ( ) const

inline

number of contacts found

operator==()

bool coal::CollisionResult::operator== ( const CollisionResult &  other ) const

inline

whether two CollisionResult are the same or not

setContact()

void coal::CollisionResult::setContact ( size_t  i, const Contact &  c  )

inline

set the i-th contact calculated

swapObjects()

void coal::CollisionResult::swapObjects

(

)

reposition Contact objects when fcl inverts them during their construction.

updateDistanceLowerBound()

void coal::CollisionResult::updateDistanceLowerBound ( const Scalar &  distance_lower_bound_ )

inline

Update the lower bound only if the distance is inferior.

Member Data Documentation

distance_lower_bound

Scalar coal::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint. See Collision

Note

Always computed. If CollisionRequest::distance_upper_bound is set to infinity, distance_lower_bound is the actual distance between the shapes.

nearest_points

std::array<Vec3s, 2> coal::CollisionResult::nearest_points

nearest points. A CollisionResult can have multiple contacts. The nearest points in CollisionResults correspond to the witness points associated with the smallest distance i.e the distance_lower_bound. For bounding volumes and BVHs, these nearest points are available only when distance_lower_bound is inferior to CollisionRequest::break_distance.

normal

Vec3s coal::CollisionResult::normal

normal associated to nearest_points. Same as CollisionResult::nearest_points but for the normal.

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The documentation for this struct was generated from the following file:

• include/coal/collision_data.h