A contact between two collisions. More...
#include <physics/physics.hh>
Public Member Functions | |
| Contact () | |
| Constructor. More... | |
| Contact (const Contact &_contact) | |
| Copy constructor. More... | |
| virtual | ~Contact () |
| Destructor. More... | |
| std::string | DebugString () const |
| Produce a debug string. More... | |
| void | FillMsg (msgs::Contact &_msg) const |
| Populate a msgs::Contact with data from this. More... | |
| Contact & | operator= (const Contact &_contact) |
| Operator =. More... | |
| Contact & | operator= (const msgs::Contact &_contact) |
| Operator =. More... | |
| void | Reset () |
| Reset to default values. More... | |
Public Attributes | |
| Collision * | collision1 |
| Pointer to the first collision object. More... | |
| Collision * | collision2 |
| Pointer to the second collision object. More... | |
| int | count |
| Length of all the arrays. More... | |
| double | depths [250] |
| Array of contact depths. More... | |
| math::Vector3 | normals [250] |
| Array of force normals. More... | |
| math::Vector3 | positions [250] |
| Array of force positions. More... | |
| common::Time | time |
| Time at which the contact occurred. More... | |
| WorldPtr | world |
| World in which the contact occurred. More... | |
| JointWrench | wrench [250] |
| Array of forces for the contact. More... | |
A contact between two collisions.
Each contact can consist of a number of contact points
| Contact | ( | ) |
Constructor.
|
virtual |
Destructor.
| std::string DebugString | ( | ) | const |
Produce a debug string.
| void FillMsg | ( | msgs::Contact & | _msg | ) | const |
Populate a msgs::Contact with data from this.
| [out] | _msg | Contact message the will hold the data. |
| Contact& operator= | ( | const msgs::Contact & | _contact | ) |
Operator =.
| [in] | _contact | msgs::Contact to copy. |
| void Reset | ( | ) |
Reset to default values.
| Collision* collision1 |
Pointer to the first collision object.
| Collision* collision2 |
Pointer to the second collision object.
| int count |
Length of all the arrays.
| double depths[250] |
Array of contact depths.
| math::Vector3 normals[250] |
Array of force normals.
| math::Vector3 positions[250] |
Array of force positions.
| common::Time time |
Time at which the contact occurred.
| JointWrench wrench[250] |
Array of forces for the contact.
All forces and torques are in the world frame. All forces and torques are relative to the center of mass of the respective links that the collision elments are attached to.