dart::collision::Contact Struct Reference

Contact information. More...

#include <Contact.hpp>

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.
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.
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.

Constructor & Destructor Documentation

Contact()

dart::collision::Contact::Contact

(

)

Default constructor.

Member Function Documentation

getNormalEpsilon()

constexpr double dart::collision::Contact::getNormalEpsilon ( )

staticconstexpr

Returns the epsilon to be used for determination of zero-length normal.

getNormalEpsilonSquared()

constexpr double dart::collision::Contact::getNormalEpsilonSquared ( )

staticconstexpr

Returns the squired epsilon to be used for determination of zero-length normal.

isNonZeroNormal()

bool dart::collision::Contact::isNonZeroNormal ( const Eigen::Vector3d &  normal )

static

Returns !isZeroNormal().

isZeroNormal()

bool dart::collision::Contact::isZeroNormal ( const Eigen::Vector3d &  normal )

static

Returns true if the length of a normal is less than the epsilon.

Member Data Documentation

collisionObject1

CollisionObject* dart::collision::Contact::collisionObject1

First colliding collision object.

collisionObject2

CollisionObject* dart::collision::Contact::collisionObject2

Second colliding collision object.

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.

normal

Eigen::Vector3d dart::collision::Contact::normal

Contact normal vector from bodyNode2 to bodyNode1 w.r.t. the world frame.

penetrationDepth

double dart::collision::Contact::penetrationDepth

Penetration depth.

point

Eigen::Vector3d dart::collision::Contact::point

Contact point w.r.t. the world frame.

triID1

int dart::collision::Contact::triID1

triID2

int dart::collision::Contact::triID2

userData

void* dart::collision::Contact::userData

User data.