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Contact.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Specification of a contact
18  * Author: Nate Koenig
19  * Date: 10 Nov 2009
20  */
21 
22 #ifndef _CONTACT_HH_
23 #define _CONTACT_HH_
24 
25 #include <vector>
26 
27 #include "gazebo/common/Time.hh"
28 #include "gazebo/math/Vector3.hh"
30 
31 // For the sake of efficiency, use fixed size arrays for collision
32 // MAX_COLLIDE_RETURNS limits contact detection, needs to be large
33 // for proper contact dynamics.
34 // MAX_CONTACT_JOINTS truncates <max_contacts> specified in SDF
35 #define MAX_COLLIDE_RETURNS 250
36 #define MAX_CONTACT_JOINTS 32
37 
38 namespace gazebo
39 {
40  namespace physics
41  {
42  class Collision;
45 
49  class Contact
50  {
52  public: Contact();
53 
56  public: Contact(const Contact &_contact);
57 
59  public: virtual ~Contact();
60 
62  public: Contact Clone() const GAZEBO_DEPRECATED;
63 
67  public: Contact &operator =(const Contact &_contact);
68 
70  public: void Reset();
71 
74 
77 
80 
83 
86 
88  public: double depths[MAX_CONTACT_JOINTS];
89 
91  public: int count;
92 
94  public: common::Time time;
95  };
97  }
98 }
99 #endif