DART  6.10.1
Contact.hpp
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32 
33 #ifndef DART_COLLISION_CONTACT_HPP_
34 #define DART_COLLISION_CONTACT_HPP_
35 
36 #include <Eigen/Dense>
39 
40 namespace dart {
41 namespace collision {
42 
44 struct Contact
45 {
47  Contact();
48 
50  Eigen::Vector3d point;
51 
53  Eigen::Vector3d normal;
54 
59  Eigen::Vector3d force;
60 
63 
66 
69 
70  // TODO(JS): triID1 will be deprecated when we don't use fcl_mesh
72  int triID1;
73 
74  // TODO(JS): triID2 will be deprecated when we don't use fcl_mesh
76  int triID2;
77 
78  // TODO(JS): userData is an experimental variable.
80  void* userData;
81 
83  constexpr static double getNormalEpsilon();
84 
87  constexpr static double getNormalEpsilonSquared();
88 
90  static bool isZeroNormal(const Eigen::Vector3d& normal);
91 
93  static bool isNonZeroNormal(const Eigen::Vector3d& normal);
94 };
95 
96 } // namespace collision
97 } // namespace dart
98 
100 
101 #endif // DART_COLLISION_CONTACT_HPP_
Definition: CollisionObject.hpp:45
Definition: BulletCollisionDetector.cpp:65
Contact information.
Definition: Contact.hpp:45
CollisionObject * collisionObject1
First colliding collision object.
Definition: Contact.hpp:62
Eigen::Vector3d force
Contact force acting on bodyNode1 w.r.t.
Definition: Contact.hpp:59
double penetrationDepth
Penetration depth.
Definition: Contact.hpp:68
void * userData
User data.
Definition: Contact.hpp:80
int triID2
Definition: Contact.hpp:76
int triID1
Definition: Contact.hpp:72
Eigen::Vector3d point
Contact point w.r.t. the world frame.
Definition: Contact.hpp:50
Eigen::Vector3d normal
Contact normal vector from bodyNode2 to bodyNode1 w.r.t. the world frame.
Definition: Contact.hpp:53
static bool isNonZeroNormal(const Eigen::Vector3d &normal)
Returns !isZeroNormal().
Definition: Contact.cpp:64
static bool isZeroNormal(const Eigen::Vector3d &normal)
Returns true if the length of a normal is less than the epsilon.
Definition: Contact.cpp:55
Contact()
Default constructor.
Definition: Contact.cpp:39
constexpr static double getNormalEpsilon()
Returns the epsilon to be used for determination of zero-length normal.
Definition: Contact-impl.hpp:42
CollisionObject * collisionObject2
Second colliding collision object.
Definition: Contact.hpp:65
constexpr static double getNormalEpsilonSquared()
Returns the squired epsilon to be used for determination of zero-length normal.
Definition: Contact-impl.hpp:48