Contact information returned by collision.
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#include <hpp/fcl/collision_data.h>
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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 |
| 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...
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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...
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Vec3f | normal |
| contact normal, pointing from o1 to o2 More...
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Vec3f | pos |
| contact position, in world space More...
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FCL_REAL | penetration_depth |
| penetration depth More...
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static const int | NONE = -1 |
| invalid contact primitive information More...
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Contact information returned by collision.
◆ Contact() [1/3]
hpp::fcl::Contact::Contact |
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inline |
◆ Contact() [2/3]
◆ Contact() [3/3]
◆ operator!=()
bool hpp::fcl::Contact::operator!= |
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const Contact & |
other | ) |
const |
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inline |
◆ operator<()
bool hpp::fcl::Contact::operator< |
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const Contact & |
other | ) |
const |
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inline |
◆ operator==()
bool hpp::fcl::Contact::operator== |
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const Contact & |
other | ) |
const |
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inline |
◆ 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 |
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static |
invalid contact primitive information
◆ normal
Vec3f hpp::fcl::Contact::normal |
contact normal, pointing from o1 to o2
◆ o1
◆ o2
◆ penetration_depth
FCL_REAL hpp::fcl::Contact::penetration_depth |
◆ pos
Vec3f hpp::fcl::Contact::pos |
contact position, in world space
The documentation for this struct was generated from the following file: