fcl::DistanceResult Struct Reference

distance result More...


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
void	update (FCL_REAL distance, const CollisionGeometry o1_, const CollisionGeometry o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2)
	add distance information into the result
void	update (const DistanceResult &other_result)
	add distance information into the result
void	clear ()
	clear the result
Public Attributes
FCL_REAL	min_distance
	minimum distance between two objects. if two objects are in collision, min_distance <= 0.
Vec3f	nearest_points [2]
	nearest points
const CollisionGeometry *	o1
	collision object 1
const CollisionGeometry *	o2
	collision object 2
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
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
Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information

Detailed Description

distance result

Definition at line 273 of file collision_data.h.

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