A characterization of the intersection of two penetrating geometries.
The characterization consists of a pair of points and a normal. The points represent a point on each geometry that most deeply penetrates the other geometry (in the normal direction). For convenience, the penetration depth is provided and is equal to:
depth = `(p_WCb - p_WCa) ⋅ nhat_BA_W`
(depth
is strictly positive when there is penetration and otherwise not defined.)
T | The underlying scalar type. Must be a valid Eigen scalar. |
#include <drake/geometry/query_results/penetration_as_point_pair.h>
Public Member Functions | |
void | SwapAAndB () |
Swaps the interpretation of geometries A and B. More... | |
Public Attributes | |
GeometryId | id_A |
The id of the first geometry in the contact. More... | |
GeometryId | id_B |
The id of the second geometry in the contact. More... | |
Vector3< T > | p_WCa |
The point on A that most deeply penetrates B, measured and expressed in the world frame. More... | |
Vector3< T > | p_WCb |
The point on B that most deeply penetrates A, measured and expressed in the world frame. More... | |
Vector3< T > | nhat_BA_W |
The unit-length normal which defines the penetration direction, pointing from geometry B into geometry A, measured and expressed in the world frame. More... | |
T | depth {-1.0} |
The penetration depth. More... | |
void SwapAAndB | ( | ) |
Swaps the interpretation of geometries A and B.
T depth {-1.0} |
The penetration depth.
GeometryId id_A |
The id of the first geometry in the contact.
GeometryId id_B |
The id of the second geometry in the contact.
Vector3<T> nhat_BA_W |
The unit-length normal which defines the penetration direction, pointing from geometry B into geometry A, measured and expressed in the world frame.
It approximates the normal to the plane on which the contact patch lies.
Vector3<T> p_WCa |
The point on A that most deeply penetrates B, measured and expressed in the world frame.
Vector3<T> p_WCb |
The point on B that most deeply penetrates A, measured and expressed in the world frame.