frcsim::ContactPoint Struct Reference

Describes a single contact point between two colliding bodies. More...

#include <collision_detector.hpp>

Public Attributes
Vector3	pointOnA
	Contact point in local space of body A.
Vector3	pointOnB
	Contact point in local space of body B.
Vector3	worldPoint
	Contact point in world space.
Vector3	normal
	Collision normal vector pointing from A to B.
double	depth
	Penetration depth (positive means overlap).

Detailed Description

Describes a single contact point between two colliding bodies.

Member Data Documentation

depth

double frcsim::ContactPoint::depth

Penetration depth (positive means overlap).

normal

Vector3 frcsim::ContactPoint::normal

Collision normal vector pointing from A to B.

pointOnA

Vector3 frcsim::ContactPoint::pointOnA

Contact point in local space of body A.

pointOnB

Vector3 frcsim::ContactPoint::pointOnB

Contact point in local space of body B.

worldPoint

Vector3 frcsim::ContactPoint::worldPoint

Contact point in world space.

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

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