hpp::constraints::ConvexShapeContact::ForceData Struct Reference

Represents a contact When supportJoint is NULL, the contact is with the environment. More...

#include <hpp/constraints/convex-shape-contact.hh>

Collaboration diagram for hpp::constraints::ConvexShapeContact::ForceData:

Public Attributes
JointPtr_t	joint
JointPtr_t	supportJoint
std::vector< vector3_t >	points
vector3_t	normal

Detailed Description

Represents a contact When supportJoint is NULL, the contact is with the environment.

Otherwise, the contact is between two joints.

Member Data Documentation

JointPtr_t hpp::constraints::ConvexShapeContact::ForceData::joint

vector3_t hpp::constraints::ConvexShapeContact::ForceData::normal

std::vector<vector3_t> hpp::constraints::ConvexShapeContact::ForceData::points

JointPtr_t hpp::constraints::ConvexShapeContact::ForceData::supportJoint