TCollisionInfo Struct Reference Detailed DescriptionInformation on a particular collision. Right now only SOLID and FCL store this information. The rest of collison detection engines are only able to detect the fisrt collision, but not all the collisions and the related information. Note that for the same problem SOLID and FCL will store slightly different information (from slightly different collision points and normals and even different collision sets). PQP anc VCOLLIDE do not return the collision point but the pair of collising triangles. They do not return the normal at the conctact either.
Field Documentation
TRUE if the first colliding object is a link. Definition at line 61 of file cd.h. Referenced by CDCallBackInfo(), PrintCollisionInfoInt(), and StoreCollisionInfoInt().
Identifier of the first colliding object. This is a linkID of a objectID, depending on isLink1. Definition at line 62 of file cd.h. Referenced by CDCallBackInfo(), and StoreCollisionInfoInt().
TRUE if the second colliding object is a link. Definition at line 64 of file cd.h. Referenced by CDCallBackInfo(), PrintCollisionInfoInt(), and StoreCollisionInfoInt().
Identifier of the second colliding object. This is a linkID of a objectID, depending on isLink2. Definition at line 65 of file cd.h. Referenced by CDCallBackInfo(), and StoreCollisionInfoInt().
The contact point. In the global frame. Definition at line 67 of file cd.h. Referenced by CDCallBackInfo().
The normal at the contact point. In the global frame. Definition at line 68 of file cd.h. Referenced by CDCallBackInfo().
Pose for the first object in collision Definition at line 69 of file cd.h. Referenced by CDCallBackInfo(), and StoreCollisionInfoInt().
Pose for the second object in collision Definition at line 70 of file cd.h. Referenced by CDCallBackInfo(), and StoreCollisionInfoInt(). |
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