#include <collision_data.h>
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 | |
| const CollisionGeometry * | o2 |
| collision object 2 | |
| 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 | |
| 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 | |
| Vec3f | normal |
| contact normal, pointing from o1 to o2 | |
| Vec3f | pos |
| contact position, in world space | |
| FCL_REAL | penetration_depth |
| penetration depth | |
Static Public Attributes | |
| static const int | NONE = -1 |
| invalid contact primitive information | |
Definition at line 52 of file collision_data.h.
