coal::ContactPatchResult Struct Reference

Result for a contact patch computation. More...

#include <coal/collision_data.h>

Public Types
using	ContactPatchVector = std::vector< ContactPatch >
using	ContactPatchRef = std::reference_wrapper< ContactPatch >
using	ContactPatchRefVector = std::vector< ContactPatchRef >

Public Member Functions
	ContactPatchResult ()
	Default constructor.
	ContactPatchResult (const ContactPatchRequest &request)
	Constructor using a ContactPatchRequest.
size_t	numContactPatches () const
	Number of contact patches in the result.
ContactPatchRef	getUnusedContactPatch ()
	Returns a new unused contact patch from the internal data vector.
const ContactPatch &	getContactPatch (const size_t i) const
	Const getter for the i-th contact patch of the result.
ContactPatch &	contactPatch (const size_t i)
	Getter for the i-th contact patch of the result.
void	clear ()
	Clears the contact patch result.
void	set (const ContactPatchRequest &request)
	Set up a ContactPatchResult from a ContactPatchRequest
bool	check (const ContactPatchRequest &request) const
	Return true if this ContactPatchResult is aligned with the ContactPatchRequest given as input.
bool	operator== (const ContactPatchResult &other) const
	Whether two ContactPatchResult are identical or not.
void	swapObjects ()
	Repositions the ContactPatch when they get inverted during their construction.

Protected Attributes
ContactPatchVector	m_contact_patches_data
	Data container for the vector of contact patches.
size_t	m_id_available_patch
	Contact patches in m_contact_patches_data can have two statuses: used or unused. This index tracks the first unused patch in the m_contact_patches_data vector.
ContactPatchRefVector	m_contact_patches
	Vector of contact patches of the result.

Detailed Description

Result for a contact patch computation.

Member Typedef Documentation

ContactPatchRef

using coal::ContactPatchResult::ContactPatchRef = std::reference_wrapper<ContactPatch>

ContactPatchRefVector

using coal::ContactPatchResult::ContactPatchRefVector = std::vector<ContactPatchRef>

ContactPatchVector

using coal::ContactPatchResult::ContactPatchVector = std::vector<ContactPatch>

Constructor & Destructor Documentation

ContactPatchResult() [1/2]

coal::ContactPatchResult::ContactPatchResult ( )

inline

Default constructor.

ContactPatchResult() [2/2]

coal::ContactPatchResult::ContactPatchResult ( const ContactPatchRequest &  request )

inlineexplicit

Constructor using a ContactPatchRequest.

Member Function Documentation

check()

bool coal::ContactPatchResult::check ( const ContactPatchRequest &  request ) const

inline

Return true if this ContactPatchResult is aligned with the ContactPatchRequest given as input.

clear()

void coal::ContactPatchResult::clear ( )

inline

Clears the contact patch result.

contactPatch()

ContactPatch & coal::ContactPatchResult::contactPatch ( const size_t  i )

inline

Getter for the i-th contact patch of the result.

getContactPatch()

const ContactPatch & coal::ContactPatchResult::getContactPatch ( const size_t  i ) const

inline

Const getter for the i-th contact patch of the result.

getUnusedContactPatch()

ContactPatchRef coal::ContactPatchResult::getUnusedContactPatch ( )

inline

Returns a new unused contact patch from the internal data vector.

numContactPatches()

size_t coal::ContactPatchResult::numContactPatches ( ) const

inline

Number of contact patches in the result.

operator==()

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

inline

Whether two ContactPatchResult are identical or not.

set()

void coal::ContactPatchResult::set ( const ContactPatchRequest &  request )

inline

Set up a ContactPatchResult from a ContactPatchRequest

swapObjects()

void coal::ContactPatchResult::swapObjects ( )

inline

Repositions the ContactPatch when they get inverted during their construction.

Member Data Documentation

m_contact_patches

ContactPatchRefVector coal::ContactPatchResult::m_contact_patches

protected

Vector of contact patches of the result.

m_contact_patches_data

ContactPatchVector coal::ContactPatchResult::m_contact_patches_data

protected

Data container for the vector of contact patches.

Note

Contrary to CollisionResult or DistanceResult, which have a very small memory footprint, contact patches can contain relatively large polytopes. In order to reuse a ContactPatchResult while avoiding successive mallocs, we have a data container and a vector which points to the currently active patches in this data container.

m_id_available_patch

size_t coal::ContactPatchResult::m_id_available_patch

protected

Contact patches in m_contact_patches_data can have two statuses: used or unused. This index tracks the first unused patch in the m_contact_patches_data vector.

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

• include/coal/collision_data.h