Collision.h

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#ifndef CNOID_UTIL_COLLISION_H
#define CNOID_UTIL_COLLISION_H
 
#include "EigenTypes.h"
#include <vector>
 
namespace cnoid {
 
struct Collision {
    Vector3 point;
    Vector3 normal;
    double depth;
    union {
        struct {
            unsigned int id1;
            unsigned int id2;
        };
        unsigned long long int id;
    };
};
 
typedef std::vector<Collision> CollisionArray;
 
typedef std::vector<Collision> CollisionList;
 
}
 
#endif