TCollisionInfo Struct Reference

Detailed Description

Information 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.

Definition at line 60 of file cd.h.

Data Fields

boolean isLink1
 
unsigned int id1
 
boolean isLink2
 
unsigned int id2
 
double point [3]
 
double normal [3]
 
THTransform t1
 
THTransform t2
 

Field Documentation

boolean TCollisionInfo::isLink1

TRUE if the first colliding object is a link.

Definition at line 61 of file cd.h.

Referenced by CDCallBackInfo(), PrintCollisionInfoInt(), and StoreCollisionInfoInt().

unsigned int TCollisionInfo::id1

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().

boolean TCollisionInfo::isLink2

TRUE if the second colliding object is a link.

Definition at line 64 of file cd.h.

Referenced by CDCallBackInfo(), PrintCollisionInfoInt(), and StoreCollisionInfoInt().

unsigned int TCollisionInfo::id2

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().

double TCollisionInfo::point[3]

The contact point. In the global frame.

Definition at line 67 of file cd.h.

Referenced by CDCallBackInfo().

double TCollisionInfo::normal[3]

The normal at the contact point. In the global frame.

Definition at line 68 of file cd.h.

Referenced by CDCallBackInfo().

THTransform TCollisionInfo::t1

Pose for the first object in collision

Definition at line 69 of file cd.h.

Referenced by CDCallBackInfo(), and StoreCollisionInfoInt().

THTransform TCollisionInfo::t2

Pose for the second object in collision

Definition at line 70 of file cd.h.

Referenced by CDCallBackInfo(), and StoreCollisionInfoInt().