Contact data structure used when two representations touch each other The convention is that if body 1 is moved along the normal vector by a distance depth (or equivalently if body 2 is moved the same distance in the opposite direction) then the penetration depth will be reduced to zero. More...
#include <CollisionPair.h>
Inheritance diagram for SurgSim::Collision::Contact:
Public Member Functions | |
| Contact (const CollisionDetectionType &newType, const double &newDepth, const double &newTime, const SurgSim::Math::Vector3d &newContact, const SurgSim::Math::Vector3d &newNormal, const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &newPenetrationPoints) | |
| std::shared_ptr< Contact > | makeComplimentary () |
| bool | operator== (const Contact &contact) const |
Public Attributes | |
| CollisionDetectionType | type |
| What collision algorithm class was used to get the contact. | |
| double | depth |
| What is the penetration depth for the representation. | |
| double | time |
| What is the time of the collision, CCD only. | |
| SurgSim::Math::Vector3d | contact |
| The actual contact point, only used for CCD. | |
| SurgSim::Math::Vector3d | normal |
| The normal on the contact point (normalized) | |
| std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > | penetrationPoints |
| The deepest point inside the opposing object. | |
| SurgSim::Math::Vector3d | force |
| The reaction force to correct this contact. | |
Detailed Description
Contact data structure used when two representations touch each other The convention is that if body 1 is moved along the normal vector by a distance depth (or equivalently if body 2 is moved the same distance in the opposite direction) then the penetration depth will be reduced to zero.
This means that the normal vector points "in" to body 1
The documentation for this struct was generated from the following file:
- SurgSim/Collision/CollisionPair.h
