Public Member Functions | Public Attributes | Static Public Attributes
fcl::Contact Struct Reference

Contact information returned by collision. More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for fcl::Contact:
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List of all members.

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

Public Attributes

const CollisionGeometryo1
 collision object 1
const CollisionGeometryo2
 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

Detailed Description

Contact information returned by collision.


Constructor & Destructor Documentation

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

bool fcl::Contact::operator< ( const Contact other) const [inline]

References b1, and b2.

bool fcl::Contact::operator== ( const Contact other) const [inline]

References b1, b2, normal, o1, o2, penetration_depth, and pos.


Member Data Documentation

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

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

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

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

const int fcl::Contact::NONE = -1 [static]

contact normal, pointing from o1 to o2

Referenced by operator==().

collision object 1

Referenced by operator==().

collision object 2

Referenced by operator==().

penetration depth

Referenced by operator==().

contact position, in world space

Referenced by operator==().

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