CollisionData.h

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#ifndef CNOID_AIST_COLLISION_DETECTOR_COLLISION_DATA_H
#define CNOID_AIST_COLLISION_DETECTOR_COLLISION_DATA_H
 
#include <cnoid/EigenTypes>
#include "exportdecl.h"
 
namespace cnoid {
 
class collision_data
{
public:
    int id1;
    int id2;
        
    int num_of_i_points;
    Vector3 i_points[4];
    int i_point_new[4];
        
    Vector3 n_vector;
    double depth;
        
    Vector3 n; // normal vector of triangle id1
    Vector3 m; // normal vector of triangle id2
    int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact
};
 
}
    
#endif