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Contact.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
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 #include <string>
27 
28 #include "gazebo/msgs/msgs.hh"
29 
31 #include "gazebo/common/Time.hh"
32 #include "gazebo/math/Vector3.hh"
34 
35 // For the sake of efficiency, use fixed size arrays for collision
36 // MAX_COLLIDE_RETURNS limits contact detection, needs to be large
37 // for proper contact dynamics.
38 // MAX_CONTACT_JOINTS truncates <max_contacts> specified in SDF
39 #define MAX_COLLIDE_RETURNS 250
40 #define MAX_CONTACT_JOINTS 32
41 
42 namespace gazebo
43 {
44  namespace physics
45  {
46  class Collision;
49 
53  class Contact
54  {
56  public: Contact();
57 
60  public: Contact(const Contact &_contact);
61 
63  public: virtual ~Contact();
64 
68  public: Contact &operator =(const Contact &_contact);
69 
73  public: Contact &operator =(const msgs::Contact &_contact);
74 
77  public: void FillMsg(msgs::Contact &_msg) const;
78 
81  public: std::string DebugString() const;
82 
84  public: void Reset();
85 
88 
91 
96 
99 
102 
104  public: double depths[MAX_CONTACT_JOINTS];
105 
107  public: int count;
108 
111 
113  public: WorldPtr world;
114  };
116  }
117 }
118 #endif