#include <Contact.hpp>
Collaboration diagram for dart::collision::Contact:
Public Member Functions | |
| Contact () | |
| Default constructor. | |
Static Public Member Functions | |
| static constexpr double | getNormalEpsilon () |
| Returns the epsilon to be used for determination of zero-length normal. | |
| static constexpr double | getNormalEpsilonSquared () |
| Returns the squired epsilon to be used for determination of zero-length normal. More... | |
| static bool | isZeroNormal (const Eigen::Vector3d &normal) |
| Returns true if the length of a normal is less than the epsilon. | |
| static bool | isNonZeroNormal (const Eigen::Vector3d &normal) |
| Returns !isZeroNormal(). | |
Public Attributes | |
| Eigen::Vector3d | point |
| Contact point w.r.t. the world frame. | |
| Eigen::Vector3d | normal |
| Contact normal vector from bodyNode2 to bodyNode1 w.r.t. the world frame. | |
| Eigen::Vector3d | force |
| Contact force acting on bodyNode1 w.r.t. More... | |
| CollisionObject * | collisionObject1 |
| First colliding collision object. | |
| CollisionObject * | collisionObject2 |
| Second colliding collision object. | |
| double | penetrationDepth |
| Penetration depth. | |
| int | triID1 |
| int | triID2 |
| void * | userData |
| User data. | |
Detailed Description
Contact information.
Member Function Documentation
◆ getNormalEpsilonSquared()
|
static |
Returns the squired epsilon to be used for determination of zero-length normal.
Member Data Documentation
◆ force
| Eigen::Vector3d dart::collision::Contact::force |
Contact force acting on bodyNode1 w.r.t.
the world frame
The contact force acting on bodyNode2 is -force, which is the opposite direction of the force.
The documentation for this struct was generated from the following files:
- dart/dynamics/Contact.hpp
- dart/dynamics/Contact.cpp
- dart/dynamics/detail/Contact-impl.hpp
