DART  6.10.1
dart::collision::RayHit Struct Reference

#include <RaycastResult.hpp>

Public Member Functions

 RayHit ()
 Constructor. More...
 

Public Attributes

const CollisionObjectmCollisionObject
 The collision object the ray hit. More...
 
Eigen::Vector3d mPoint
 The hit point in the world coordinates. More...
 
double mFraction
 The fraction from "from" point to "to" point. More...
 
Eigen::Vector3d mNormal
 The normal at the hit point in the world coordinates. More...
 

Constructor & Destructor Documentation

◆ RayHit()

dart::collision::RayHit::RayHit ( )

Constructor.

Member Data Documentation

◆ mCollisionObject

const CollisionObject* dart::collision::RayHit::mCollisionObject

The collision object the ray hit.

◆ mFraction

double dart::collision::RayHit::mFraction

The fraction from "from" point to "to" point.

◆ mNormal

Eigen::Vector3d dart::collision::RayHit::mNormal

The normal at the hit point in the world coordinates.

◆ mPoint

Eigen::Vector3d dart::collision::RayHit::mPoint

The hit point in the world coordinates.