Contact.hpp

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#ifndef DART_COLLISION_CONTACT_HPP_
#define DART_COLLISION_CONTACT_HPP_
 
#include <Eigen/Dense>
#include "dart/collision/SmartPointer.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace collision {
 
struct Contact
{
  Contact();
 
  Eigen::Vector3d point;
 
  Eigen::Vector3d normal;
 
  Eigen::Vector3d force;
 
  CollisionObject* collisionObject1;
 
  CollisionObject* collisionObject2;
 
  double penetrationDepth;
 
  // TODO(JS): triID1 will be deprecated when we don't use fcl_mesh
  int triID1;
 
  // TODO(JS): triID2 will be deprecated when we don't use fcl_mesh
  int triID2;
 
  // TODO(JS): userData is an experimental variable.
  void* userData;
 
  constexpr static double getNormalEpsilon();
 
  constexpr static double getNormalEpsilonSquared();
 
  static bool isZeroNormal(const Eigen::Vector3d& normal);
 
  static bool isNonZeroNormal(const Eigen::Vector3d& normal);
};
 
}  // namespace collision
}  // namespace dart
 
#include "dart/collision/detail/Contact-impl.hpp"
 
#endif  // DART_COLLISION_CONTACT_HPP_