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SurgSim::Collision::Contact Struct Reference

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 <SurgSim/Collision/CollisionPair.h>

Public Member Functions

 Contact (const double &newDepth, const SurgSim::Math::Vector3d &newContact, const SurgSim::Math::Vector3d &newNormal, const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &newPenetrationPoints)
 

Public Attributes

double depth
 What is the penetration depth for the representation. More...
 
SurgSim::Math::Vector3d contact
 The actual contact point, only used for CCD. More...
 
SurgSim::Math::Vector3d normal
 The normal on the contact point (normalized) More...
 
std::pair
< SurgSim::DataStructures::Location,
SurgSim::DataStructures::Location
penetrationPoints
 The deepest point inside the opposing object. More...
 

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

Constructor & Destructor Documentation

SurgSim::Collision::Contact::Contact ( const double &  newDepth,
const SurgSim::Math::Vector3d newContact,
const SurgSim::Math::Vector3d newNormal,
const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &  newPenetrationPoints 
)
inline

Member Data Documentation

SurgSim::Math::Vector3d SurgSim::Collision::Contact::contact

The actual contact point, only used for CCD.

double SurgSim::Collision::Contact::depth

What is the penetration depth for the representation.

SurgSim::Math::Vector3d SurgSim::Collision::Contact::normal

The normal on the contact point (normalized)

std::pair<SurgSim::DataStructures::Location, SurgSim::DataStructures::Location> SurgSim::Collision::Contact::penetrationPoints

The deepest point inside the opposing object.


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