Choreonoid  1.5
CollisionData.h
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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 
17 {
18 public:
19  int id1;
20  int id2;
21 
24  int i_point_new[4];
25 
27  double depth;
28 
29  Vector3 n; // normal vector of triangle id1
30  Vector3 m; // normal vector of triangle id2
31  int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact
32 };
33 }
34 
35 #endif
Definition: CollisionData.h:16
Vector3 n_vector
Definition: CollisionData.h:26
int id2
Definition: CollisionData.h:20
Vector3 n
Definition: CollisionData.h:29
int c_type
Definition: CollisionData.h:31
Vector3 m
Definition: CollisionData.h:30
Vector3 i_points[4]
Definition: CollisionData.h:23
int id1
Definition: CollisionData.h:19
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
double depth
Definition: CollisionData.h:27
int num_of_i_points
Definition: CollisionData.h:22
int i_point_new[4]
Definition: CollisionData.h:24
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58