distance result
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#include <coal/collision_data.h>
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| DistanceResult (Scalar min_distance_=(std::numeric_limits< Scalar >::max)()) |
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void | update (Scalar distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_) |
| add distance information into the result More...
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void | update (Scalar distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3s &p1, const Vec3s &p2, const Vec3s &normal_) |
| add distance information into the result More...
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void | update (const DistanceResult &other_result) |
| add distance information into the result More...
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void | clear () |
| clear the result More...
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bool | operator== (const DistanceResult &other) const |
| whether two DistanceResult are the same or not More...
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| QueryResult () |
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Scalar | min_distance |
| minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0. More...
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Vec3s | normal |
| normal. More...
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std::array< Vec3s, 2 > | nearest_points |
| nearest points. See CollisionResult::nearest_points. More...
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const CollisionGeometry * | o1 |
| collision object 1 More...
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const CollisionGeometry * | o2 |
| collision object 2 More...
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int | b1 |
| information about the nearest point 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...
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int | b2 |
| information about the nearest point 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...
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Vec3s | cached_gjk_guess |
| stores the last GJK ray when relevant. More...
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support_func_guess_t | cached_support_func_guess |
| stores the last support function vertex index, when relevant. More...
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CPUTimes | timings |
| timings for the given request More...
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static const int | NONE = -1 |
| invalid contact primitive information More...
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◆ DistanceResult()
coal::DistanceResult::DistanceResult |
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Scalar |
min_distance_ = (std::numeric_limits<Scalar>::max)() | ) |
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◆ clear()
void coal::DistanceResult::clear |
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◆ operator==()
bool coal::DistanceResult::operator== |
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const DistanceResult & |
other | ) |
const |
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◆ update() [1/3]
void coal::DistanceResult::update |
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const DistanceResult & |
other_result | ) |
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inline |
add distance information into the result
◆ update() [2/3]
add distance information into the result
◆ update() [3/3]
add distance information into the result
◆ b1
int coal::DistanceResult::b1 |
information about the nearest point 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::DistanceResult::b2 |
information about the nearest point 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
◆ min_distance
Scalar coal::DistanceResult::min_distance |
◆ nearest_points
std::array<Vec3s, 2> coal::DistanceResult::nearest_points |
◆ NONE
const int coal::DistanceResult::NONE = -1 |
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static |
invalid contact primitive information
◆ normal
Vec3s coal::DistanceResult::normal |
◆ o1
◆ o2
The documentation for this struct was generated from the following file: