Contact.hpp

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#ifndef DART_COLLISION_CONTACT_HPP_
#define DART_COLLISION_CONTACT_HPP_

#include <Eigen/Dense>

#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace collision {

struct Contact
{
  Contact();

  Eigen::Vector3d point;

  Eigen::Vector3d normal;

  Eigen::Vector3d force;

  CollisionObject* collisionObject1;

  CollisionObject* collisionObject2;

  double penetrationDepth;

  // TODO(JS): triID1 will be deprecated when we don't use fcl_mesh
  int triID1;

  // TODO(JS): triID2 will be deprecated when we don't use fcl_mesh
  int triID2;

  // TODO(JS): userData is an experimental variable.
  void* userData;

  constexpr static double getNormalEpsilon();

  constexpr static double getNormalEpsilonSquared();

  static bool isZeroNormal(const Eigen::Vector3d& normal);

  static bool isNonZeroNormal(const Eigen::Vector3d& normal);
};

} // namespace collision
} // namespace dart

#include "dart/dynamics/detail/Contact-impl.hpp"

#endif // DART_COLLISION_CONTACT_HPP_