contact.h

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#ifndef FCL_CONTACT_H
#define FCL_CONTACT_H

#include "fcl/narrowphase/collision_object.h"

namespace fcl
{

template <typename S>
struct Contact
{
  const CollisionGeometry<S>* o1;

  const CollisionGeometry<S>* o2;

  int b1;

  int b2;
 
  Vector3<S> normal;

  Vector3<S> pos;

  S penetration_depth;

 
  static const int NONE = -1;

  Contact();

  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);

  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_,
          const Vector3<S>& pos_, const Vector3<S>& normal_, S depth_);

  bool operator < (const Contact& other) const;
};

using Contactf = Contact<float>;
using Contactd = Contact<double>;

} // namespace fcl

#include "fcl/narrowphase/contact-inl.h"

#endif