fcl::Contact Struct Reference

Contact information returned by collision. More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for fcl::Contact:

Public Member Functions
	Contact ()
	Contact (const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
	Contact (const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &pos_, const Vec3f &normal_, FCL_REAL depth_)
bool	operator< (const Contact &other) 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...
Vec3f	normal
	contact normal, pointing from o1 to o2 More...
Vec3f	pos
	contact position, in world space More...
FCL_REAL	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

fcl::Contact::Contact ( )

inline

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

inline

fcl::Contact::Contact ( const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_, const Vec3f &  pos_, const Vec3f &  normal_, FCL_REAL  depth_  )

inline

Member Function Documentation

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

inline

References b1, and b2.

Member Data Documentation

int fcl::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

Referenced by operator<().

int fcl::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

Referenced by operator<().

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

static

invalid contact primitive information

Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().

Vec3f fcl::Contact::normal

contact normal, pointing from o1 to o2

const CollisionGeometry* fcl::Contact::o1

collision object 1

const CollisionGeometry* fcl::Contact::o2

collision object 2

FCL_REAL fcl::Contact::penetration_depth

penetration depth

Vec3f fcl::Contact::pos

contact position, in world space