vpCollisionDSC Struct Reference

Collision Descriptor.

#include <vpDataType.h>

List of all members.

Public Attributes
vpBody *	pLeftBody
vpBody *	pRightBody
scalar	penetration
Vec3	point
Vec3	normal

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Member Data Documentation

vpBody* vpCollisionDSC::pLeftBody

pointer to a body of collision

vpBody* vpCollisionDSC::pRightBody

pointer to the other body of collision

scalar vpCollisionDSC::penetration

penetration depth

Vec3 vpCollisionDSC::point

point of collision in global frame

Vec3 vpCollisionDSC::normal

surface normal of the right body at the collision point in global frame