gazebo::physics::Contact Class Reference

A contact between two collisions. More...

#include <physics/physics.hh>

Public Member Functions
	Contact ()
	Constructor.
	Contact (const Contact &_contact)
	Copy constructor.
virtual	~Contact ()
	Destructor.
Contact	Clone () const
	Clone the contact.
Contact &	operator= (const Contact &_contact)
	Operator =.
void	Reset ()
	Reset to default values.

Public Attributes
Collision *	collision1
	Pointer to the first collision in the contact.
Collision *	collision2
	Pointer to the second collision in the contact.
int	count
	Length of all the arrays.
double	depths [32]
	Array of contact depths.
JointFeedback	forces [32]
	Array of forces for the contact.
math::Vector3	normals [32]
	Array of force normals.
math::Vector3	positions [32]
	Array of force positions.
common::Time	time
	Time at which the contact occured.

Detailed Description

A contact between two collisions.

Each contact can consist of a number of contact points

Constructor & Destructor Documentation

gazebo::physics::Contact::Contact

(

)

Constructor.

gazebo::physics::Contact::Contact

(

const Contact &

_contact

)

Copy constructor.

Parameters

[in]

_contact

Contact to copy.

virtual gazebo::physics::Contact::~Contact ( )

virtual

Destructor.

Member Function Documentation

Contact gazebo::physics::Contact::Clone

(

)

const

Clone the contact.

Returns

A cope of this contact.

Contact& gazebo::physics::Contact::operator=

(

const Contact &

_contact

)

Operator =.

Parameters

[in]

_contact

Contact to copy.

Returns

Reference to this contact

void gazebo::physics::Contact::Reset

(

)

Reset to default values.

Member Data Documentation

Collision* gazebo::physics::Contact::collision1

Pointer to the first collision in the contact.

Collision* gazebo::physics::Contact::collision2

Pointer to the second collision in the contact.

int gazebo::physics::Contact::count

Length of all the arrays.

double gazebo::physics::Contact::depths[32]

Array of contact depths.

JointFeedback gazebo::physics::Contact::forces[32]

Array of forces for the contact.

math::Vector3 gazebo::physics::Contact::normals[32]

Array of force normals.

math::Vector3 gazebo::physics::Contact::positions[32]

Array of force positions.

common::Time gazebo::physics::Contact::time

Time at which the contact occured.

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

• Contact.hh