sofa::core::collision::DetectionOutput Class Reference

#include <DetectionOutput.h>

Generic description of a contact point, used for most collision models except special cases such as GPU-based collisions. More...

Detailed Description

Generic description of a contact point, used for most collision models except special cases such as GPU-based collisions.

Each contact point is described by :

• elem: pair of colliding elements.
• id: unique id of the contact for the given pair of collision models.
• point: contact points on the surface of each model.
• normal: normal of the contact, pointing outward from the first model.
• value: signed distance (negative if objects are interpenetrating).
• deltaT: estimated of time of contact.

The contact id is used to filter redundant contacts (only the contact with the smallest distance is kept), and to store persistent data over time for the response.

Public Attributes
std::pair< core::CollisionElementIterator, core::CollisionElementIterator >	elem
	Pair of colliding elements. More...
ContactId	id
	Unique id of the contact for the given pair of collision models. More...
type::Vec3	point [2]
	Contact points on the surface of each model. They are expressed in the local coordinate system of the model if any is defined.. More...
type::Vec3	normal
	Normal of the contact, pointing outward from the first model. More...
double	value
	Store information for the collision Response. Depending on the kind of contact, can be a distance, or a pression, ... More...
double	deltaT
	If using a continuous collision detection, estimated of time of contact. More...

Public Member Functions
	SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER (Vector3, sofa::type::Vec3)
	DetectionOutput ()

Attribute details

deltaT

double sofa::core::collision::DetectionOutput::deltaT

If using a continuous collision detection, estimated of time of contact.

elem

std::pair<core::CollisionElementIterator, core::CollisionElementIterator> sofa::core::collision::DetectionOutput::elem

Pair of colliding elements.

id

ContactId sofa::core::collision::DetectionOutput::id

Unique id of the contact for the given pair of collision models.

normal

type::Vec3 sofa::core::collision::DetectionOutput::normal

Normal of the contact, pointing outward from the first model.

point

type::Vec3 sofa::core::collision::DetectionOutput::point[2]

Contact points on the surface of each model. They are expressed in the local coordinate system of the model if any is defined..

value

double sofa::core::collision::DetectionOutput::value

Store information for the collision Response. Depending on the kind of contact, can be a distance, or a pression, ...

Constructor details

DetectionOutput()

sofa::core::collision::DetectionOutput::DetectionOutput ( )

inline

Function details

SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER()

sofa::core::collision::DetectionOutput::SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER	(	Vector3	,
		sofa::type::Vec3
	)