Contact information. More...

#include <Contact.hpp>

Public Member Functions
	Contact ()
	Default constructor. More...

Static Public Member Functions
constexpr static double	getNormalEpsilon ()
	Returns the epsilon to be used for determination of zero-length normal. More...

constexpr static double	getNormalEpsilonSquared ()
	Returns the squired epsilon to be used for determination of zero-length normal. More...

static bool	isZeroNormal (const Eigen::Vector3d &normal)
	Returns true if the length of a normal is less than the epsilon. More...

static bool	isNonZeroNormal (const Eigen::Vector3d &normal)
	Returns !isZeroNormal(). More...

Public Attributes
Eigen::Vector3d	point
	Contact point w.r.t. the world frame. More...

Eigen::Vector3d	normal
	Contact normal vector from bodyNode2 to bodyNode1 w.r.t. the world frame. More...

Eigen::Vector3d	force
	Contact force acting on bodyNode1 w.r.t. More...

CollisionObject *	collisionObject1
	First colliding collision object. More...

CollisionObject *	collisionObject2
	Second colliding collision object. More...

double	penetrationDepth
	Penetration depth. More...

int	triID1

int	triID2

void *	userData
	User data. More...

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.

Public Member Functions

Static Public Member Functions

Public Attributes