Drake
PointPair< T > Struct Template Reference

Structure containing the results of a collision query. More...

#include <drake/attic/multibody/collision/point_pair.h>

Public Member Functions

 PointPair ()
 
 PointPair (const Element *elementA_in, const Element *elementB_in, const Vector3< T > &ptA_in, const Vector3< T > &ptB_in, const Vector3< T > &normal_in, const T &distance_in)
 
template<typename U >
 PointPair (const PointPair< U > &other)
 Scalar-converting copy constructor. More...
 

Public Attributes

const ElementelementA {nullptr}
 Element A in the pair participating in the collision. More...
 
const ElementelementB {nullptr}
 Element B in the pair participating in the collision. More...
 
ElementId idA {0}
 Id of element A participating in the collision. More...
 
ElementId idB {0}
 Id of element B participating in the collision. More...
 
Vector3< TptA
 Collision point on the surface of body A. More...
 
Vector3< TptB
 Collision point on the surface of body B. More...
 
Vector3< Tnormal
 Outwards normal on body B. More...
 
T distance {}
 Distance between the point on body A and the point on body B. More...
 

Detailed Description

template<typename T>
struct drake::multibody::collision::PointPair< T >

Structure containing the results of a collision query.

Constructor & Destructor Documentation

◆ PointPair() [1/3]

PointPair ( )
inline

◆ PointPair() [2/3]

PointPair ( const Element elementA_in,
const Element elementB_in,
const Vector3< T > &  ptA_in,
const Vector3< T > &  ptB_in,
const Vector3< T > &  normal_in,
const T distance_in 
)
inline

◆ PointPair() [3/3]

PointPair ( const PointPair< U > &  other)
inlineexplicit

Scalar-converting copy constructor.

Member Data Documentation

◆ distance

T distance {}

Distance between the point on body A and the point on body B.

◆ elementA

const Element* elementA {nullptr}

Element A in the pair participating in the collision.

◆ elementB

const Element* elementB {nullptr}

Element B in the pair participating in the collision.

◆ idA

ElementId idA {0}

Id of element A participating in the collision.

◆ idB

ElementId idB {0}

Id of element B participating in the collision.

◆ normal

Vector3<T> normal

Outwards normal on body B.

On body A it points in the opposite direction.

◆ ptA

Vector3<T> ptA

Collision point on the surface of body A.

◆ ptB

Vector3<T> ptB

Collision point on the surface of body B.


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