coal::Contact Struct Reference

Contact information returned by collision. More...

#include <coal/collision_data.h>

Collaboration diagram for coal::Contact:

Public Member Functions
	Contact ()
	Default constructor. More...
	Contact (const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
	Contact (const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3s &pos_, const Vec3s &normal_, Scalar depth_)
	Contact (const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3s &p1, const Vec3s &p2, const Vec3s &normal_, Scalar depth_)
bool	operator< (const Contact &other) const
bool	operator== (const Contact &other) const
bool	operator!= (const Contact &other) const
Scalar	getDistanceToCollision (const CollisionRequest &request) const

Public Attributes
const CollisionGeometry *	o1
	collision object 1 More...
const CollisionGeometry *	o2
	collision object 2 More...
int	b1
	contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell More...
int	b2
	contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell More...
Vec3s	normal
	contact normal, pointing from o1 to o2. The normal defined as the normalized separation vector: normal = (p2 - p1) / dist(o1, o2), where p1 = nearest_points[0] belongs to o1 and p2 = nearest_points[1] belongs to o2 and dist(o1, o2) is the signed distance between o1 and o2. The normal always points from o1 to o2. More...
std::array< Vec3s, 2 >	nearest_points
	nearest points associated to this contact. More...
Vec3s	pos
	contact position, in world space More...
Scalar	penetration_depth
	penetration depth More...

Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information More...

Detailed Description

Contact information returned by collision.

Constructor & Destructor Documentation

Contact() [1/4]

coal::Contact::Contact ( )

inline

Default constructor.

Contact() [2/4]

coal::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_  )

inline

Contact() [3/4]

coal::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_, const Vec3s &  pos_, const Vec3s &  normal_, Scalar  depth_  )

inline

Contact() [4/4]

coal::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_, const Vec3s &  p1, const Vec3s &  p2, const Vec3s &  normal_, Scalar  depth_  )

inline

Member Function Documentation

getDistanceToCollision()

Scalar coal::Contact::getDistanceToCollision ( const CollisionRequest &  request ) const

inline

operator!=()

bool coal::Contact::operator!= ( const Contact &  other ) const

inline

operator<()

bool coal::Contact::operator< ( const Contact &  other ) const

inline

operator==()

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

inline

Member Data Documentation

b1

int coal::Contact::b1

contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell

b2

int coal::Contact::b2

contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell

nearest_points

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

nearest points associated to this contact.

Note

Also referred as "witness points" in other collision libraries. The points p1 = nearest_points[0] and p2 = nearest_points[1] verify the property that dist(o1, o2) * (p1 - p2) is the separation vector between o1 and o2, with dist(o1, o2) being the signed distance separating o1 from o2. See DistanceResult::normal for the definition of the separation vector. If o1 and o2 have multiple contacts, the nearest_points are associated with the contact which has the greatest penetration depth. TODO (louis): rename nearest_points to witness_points.

NONE

const int coal::Contact::NONE = -1

static

invalid contact primitive information

normal

Vec3s coal::Contact::normal

contact normal, pointing from o1 to o2. The normal defined as the normalized separation vector: normal = (p2 - p1) / dist(o1, o2), where p1 = nearest_points[0] belongs to o1 and p2 = nearest_points[1] belongs to o2 and dist(o1, o2) is the signed distance between o1 and o2. The normal always points from o1 to o2.

Note

The separation vector is the smallest vector such that if o1 is translated by it, o1 and o2 are in touching contact (they share at least one contact point but have a zero intersection volume). If the shapes overlap, dist(o1, o2) = -((p2-p1).norm()). Otherwise, dist(o1, o2) = (p2-p1).norm().

o1

const CollisionGeometry* coal::Contact::o1

collision object 1

o2

const CollisionGeometry* coal::Contact::o2

collision object 2

penetration_depth

Scalar coal::Contact::penetration_depth

penetration depth

pos

Vec3s coal::Contact::pos

contact position, in world space

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

• include/coal/collision_data.h