RobWorkProject  23.9.11-
Classes | Public Member Functions | Public Attributes | List of all members
CollisionResult Struct Reference

result of a single collision pair More...

#include <CollisionResult.hpp>

Classes

struct  CollisionPair
 a collision pair of More...
 

Public Member Functions

int getNrPrimTests ()
 
int getNrBVTests ()
 
void clear ()
 clear all result values
 

Public Attributes

ProximityModel::Ptr a
 reference to the first model
 
ProximityModel::Ptr b
 reference to the second model
 
rw::math::Transform3D< double > _aTb
 transformation from a to b
 
std::vector< CollisionPair_collisionPairs
 the collision pairs
 
std::vector< std::pair< int, int > > _geomPrimIds
 indices of triangles/primitives in geometry a and b that are colliding all colliding triangle indices are in this array also those that are from different geometries
 
int _nrBVTests
 
int _nrPrimTests
 

Detailed Description

result of a single collision pair

A collision result is one or all colliding triangles between two objects which may have several geometries attached. The collision result does not have access to the actual triangle meshes of the geometries so to extract the actual contact location the user has to supply the triangles meshes of the geometries himself.


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