Choreonoid  1.1
CollisionData.h
[詳解]
1 
2 #ifndef CNOID_COLLISION_COLLISION_DATA_H_INCLUDED
3 #define CNOID_COLLISION_COLLISION_DATA_H_INCLUDED
4 
5 #include <cnoid/EigenTypes>
6 #include "exportdecl.h"
7 
8 namespace cnoid {
9 
10  // this is for the client
11 
13  {
14  public:
15  int id1;
16  int id2;
17 
20  int i_point_new[4];
21 
23  double depth;
24 
25  Vector3 n; // normal vector of triangle id1
26  Vector3 m; // normal vector of triangle id2
27  int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact
28  };
29 }
30 
31 #endif
Definition: CollisionData.h:12
Vector3 n_vector
Definition: CollisionData.h:22
int id2
Definition: CollisionData.h:16
Vector3 n
Definition: CollisionData.h:25
int c_type
Definition: CollisionData.h:27
Vector3 m
Definition: CollisionData.h:26
Vector3 i_points[4]
Definition: CollisionData.h:19
int id1
Definition: CollisionData.h:15
double depth
Definition: CollisionData.h:23
int num_of_i_points
Definition: CollisionData.h:18
int i_point_new[4]
Definition: CollisionData.h:20
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26