coal::CollisionResult Struct Reference

collision result More...

#include <coal/collision_data.h>

Inheritance diagram for coal::CollisionResult:

Public Member Functions
	CollisionResult ()
void	updateDistanceLowerBound (const CoalScalar &distance_lower_bound_)
	Update the lower bound only if the distance is inferior.
void	addContact (const Contact &c)
	add one contact into result structure
bool	operator== (const CollisionResult &other) const
	whether two CollisionResult are the same or not
bool	isCollision () const
	return binary collision result
size_t	numContacts () const
	number of contacts found
const Contact &	getContact (size_t i) const
	get the i-th contact calculated
void	setContact (size_t i, const Contact &c)
	set the i-th contact calculated
void	getContacts (std::vector< Contact > &contacts_) const
	get all the contacts
const std::vector< Contact > &	getContacts () const
void	clear ()
	clear the results obtained
void	swapObjects ()
	reposition Contact objects when fcl inverts them during their construction.
Public Member Functions inherited from coal::QueryResult
	QueryResult ()

Public Attributes
CoalScalar	distance_lower_bound
Vec3s	normal
	normal associated to nearest_points. Same as CollisionResult::nearest_points but for the normal.
std::array< Vec3s, 2 >	nearest_points
	nearest points. A CollisionResult can have multiple contacts. The nearest points in CollisionResults correspond to the witness points associated with the smallest distance i.e the distance_lower_bound. For bounding volumes and BVHs, these nearest points are available only when distance_lower_bound is inferior to CollisionRequest::break_distance.
Public Attributes inherited from coal::QueryResult
Vec3s	cached_gjk_guess
	stores the last GJK ray when relevant.
support_func_guess_t	cached_support_func_guess
	stores the last support function vertex index, when relevant.
CPUTimes	timings
	timings for the given request

Detailed Description

collision result

Constructor & Destructor Documentation

CollisionResult()

coal::CollisionResult::CollisionResult ( )

inline

Member Function Documentation

addContact()

void coal::CollisionResult::addContact ( const Contact & c )

inline

add one contact into result structure

clear()

void coal::CollisionResult::clear ( )

inline

clear the results obtained

getContact()

const Contact & coal::CollisionResult::getContact ( size_t i ) const

inline

get the i-th contact calculated

getContacts() [1/2]

const std::vector< Contact > & coal::CollisionResult::getContacts ( ) const

inline

getContacts() [2/2]

void coal::CollisionResult::getContacts ( std::vector< Contact > & contacts_ ) const

inline

get all the contacts

isCollision()

bool coal::CollisionResult::isCollision ( ) const

inline

return binary collision result

numContacts()

size_t coal::CollisionResult::numContacts ( ) const

inline

number of contacts found

operator==()

bool coal::CollisionResult::operator== ( const CollisionResult & other ) const

inline

whether two CollisionResult are the same or not

setContact()

void coal::CollisionResult::setContact ( size_t i, const Contact & c )

inline

set the i-th contact calculated

swapObjects()

void coal::CollisionResult::swapObjects

(

)

reposition Contact objects when fcl inverts them during their construction.

updateDistanceLowerBound()

void coal::CollisionResult::updateDistanceLowerBound ( const CoalScalar & distance_lower_bound_ )

inline

Update the lower bound only if the distance is inferior.

Member Data Documentation

distance_lower_bound

CoalScalar coal::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint. See Collision

Note

Always computed. If CollisionRequest::distance_upper_bound is set to infinity, distance_lower_bound is the actual distance between the shapes.

nearest_points

std::array<Vec3s, 2> coal::CollisionResult::nearest_points

nearest points. A CollisionResult can have multiple contacts. The nearest points in CollisionResults correspond to the witness points associated with the smallest distance i.e the distance_lower_bound. For bounding volumes and BVHs, these nearest points are available only when distance_lower_bound is inferior to CollisionRequest::break_distance.

normal

Vec3s coal::CollisionResult::normal

normal associated to nearest_points. Same as CollisionResult::nearest_points but for the normal.

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The documentation for this struct was generated from the following file:

• include/coal/collision_data.h