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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 GAZEBO_DEPRECATED
 Deprecated.
 
Contactoperator= (const Contact &_contact)
 Operator =.
 
void Reset ()
 Reset to default values.
 

Public Attributes

Collisioncollision1
 Pointer to the first collision in the contact.
 
Collisioncollision2
 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]_contactContact to copy.
virtual gazebo::physics::Contact::~Contact ( )
virtual

Destructor.

Member Function Documentation

Contact gazebo::physics::Contact::Clone ( ) const

Deprecated.

Contact& gazebo::physics::Contact::operator= ( const Contact _contact)

Operator =.

Parameters
[in]_contactContact 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.


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