frcsim::CollisionDetector Class Reference

Pure virtual interface for collision detection algorithms. More...

#include <collision_detector.hpp>

Public Member Functions
virtual	~CollisionDetector ()=default
virtual CollisionManifold	DetectCollision (const Shape *shapeA, const Vector3 &posA, const Quaternion &rotA, const Shape *shapeB, const Vector3 &posB, const Quaternion &rotB)=0
	Computes the collision manifold between two generic shapes.

Detailed Description

Pure virtual interface for collision detection algorithms.

Constructor & Destructor Documentation

~CollisionDetector()

virtual frcsim::CollisionDetector::~CollisionDetector ( )

virtualdefault

Member Function Documentation

DetectCollision()

virtual CollisionManifold frcsim::CollisionDetector::DetectCollision ( const Shape * shapeA, const Vector3 & posA, const Quaternion & rotA, const Shape * shapeB, const Vector3 & posB, const Quaternion & rotB )

pure virtual

Computes the collision manifold between two generic shapes.

Parameters

shapeA	Conceptually the first colliding shape.
posA	World position of shapeA.
rotA	World rotation of shapeA.
shapeB	Conceptually the second colliding shape.
posB	World position of shapeB.
rotB	World rotation of shapeB.

Returns

The resulting collision manifold mapping the contact points.

---

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

• src/main/driver/include/frcsim/contact/collision_detector.hpp