#include <DetectionOutput.h>
Generic description of a contact point, used for most collision models except special cases such as GPU-based collisions. More...
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 :
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 | |
| DetectionOutput () | |
| double sofa::core::collision::DetectionOutput::deltaT | 
If using a continuous collision detection, estimated of time of contact.
| std::pair<core::CollisionElementIterator, core::CollisionElementIterator> sofa::core::collision::DetectionOutput::elem | 
Pair of colliding elements.
| ContactId sofa::core::collision::DetectionOutput::id | 
Unique id of the contact for the given pair of collision models.
| type::Vec3 sofa::core::collision::DetectionOutput::normal | 
Normal of the contact, pointing outward from the first model.
| 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..
| 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, ...
| 
 | inline |