hpp::fcl::DistanceResult Struct Reference

distance result More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for hpp::fcl::DistanceResult:

Public Member Functions
	DistanceResult (FCL_REAL min_distance_=std::numeric_limits< FCL_REAL >::max())
void	update (FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
	add distance information into the result More...
void	update (FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2, const Vec3f &normal_)
	add distance information into the result More...
void	update (const DistanceResult &other_result)
	add distance information into the result More...
void	clear ()
	clear the result More...
bool	operator== (const DistanceResult &other) const
	whether two DistanceResult are the same or not More...

Public Attributes
FCL_REAL	min_distance
	minimum distance between two objects. if two objects are in collision, min_distance <= 0. More...
Vec3f	nearest_points [2]
	nearest points More...
Vec3f	normal
	In case both objects are in collision, store the normal. More...
const CollisionGeometry *	o1
	collision object 1 More...
const CollisionGeometry *	o2
	collision object 2 More...
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...
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...

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

Detailed Description

distance result

Constructor & Destructor Documentation

hpp::fcl::DistanceResult::DistanceResult ( FCL_REAL  min_distance_ = std::numeric_limits<FCL_REAL>::max() )

inline

Member Function Documentation

void hpp::fcl::DistanceResult::clear ( )

inline

clear the result

References hpp::fcl::Contact::NONE.

bool hpp::fcl::DistanceResult::operator== ( const DistanceResult &  other ) const

inline

whether two DistanceResult are the same or not

References b1, b2, min_distance, nearest_points, o1, and o2.

void hpp::fcl::DistanceResult::update ( FCL_REAL  distance, const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_  )

inline

add distance information into the result

References hpp::fcl::distance().

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

void hpp::fcl::DistanceResult::update ( FCL_REAL  distance, const CollisionGeometry *  o1_, const CollisionGeometry *  o2_, int  b1_, int  b2_, const Vec3f &  p1, const Vec3f &  p2, const Vec3f &  normal_  )

inline

add distance information into the result

References hpp::fcl::distance().

void hpp::fcl::DistanceResult::update ( const DistanceResult &  other_result )

inline

add distance information into the result

References b1, b2, min_distance, nearest_points, normal, o1, and o2.

Member Data Documentation

int hpp::fcl::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

Referenced by operator==(), and update().

int hpp::fcl::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

Referenced by operator==(), and update().

FCL_REAL hpp::fcl::DistanceResult::min_distance

minimum distance between two objects. if two objects are in collision, min_distance <= 0.

Referenced by operator==(), and update().

Vec3f hpp::fcl::DistanceResult::nearest_points[2]

nearest points

Referenced by operator==(), and update().

const int hpp::fcl::DistanceResult::NONE = -1

static

invalid contact primitive information

Referenced by hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

Vec3f hpp::fcl::DistanceResult::normal

In case both objects are in collision, store the normal.

Referenced by update().

const CollisionGeometry* hpp::fcl::DistanceResult::o1

collision object 1

Referenced by operator==(), and update().

const CollisionGeometry* hpp::fcl::DistanceResult::o2

collision object 2

Referenced by operator==(), and update().