hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::Contact Struct Reference

Contact information returned by collision. More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for hpp::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
 
bool operator== (const Contact &other) const
 
bool operator!= (const Contact &other) const
 

Public Attributes

const CollisionGeometryo1
 collision object 1 More...
 
const CollisionGeometryo2
 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

◆ Contact() [1/3]

hpp::fcl::Contact::Contact ( )
inline

◆ Contact() [2/3]

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

◆ Contact() [3/3]

hpp::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

◆ operator!=()

bool hpp::fcl::Contact::operator!= ( const Contact other) const
inline

◆ operator<()

bool hpp::fcl::Contact::operator< ( const Contact other) const
inline

◆ operator==()

bool hpp::fcl::Contact::operator== ( const Contact other) const
inline

Member Data Documentation

◆ b1

int hpp::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

◆ b2

int hpp::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

◆ NONE

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

invalid contact primitive information

◆ normal

Vec3f hpp::fcl::Contact::normal

contact normal, pointing from o1 to o2

◆ o1

const CollisionGeometry* hpp::fcl::Contact::o1

collision object 1

◆ o2

const CollisionGeometry* hpp::fcl::Contact::o2

collision object 2

◆ penetration_depth

FCL_REAL hpp::fcl::Contact::penetration_depth

penetration depth

◆ pos

Vec3f hpp::fcl::Contact::pos

contact position, in world space


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