2 #ifndef CNOID_COLLISION_COLLISION_PAIR_INSERTER_H_INCLUDED 3 #define CNOID_COLLISION_COLLISION_PAIR_INSERTER_H_INCLUDED 9 class ColdetModelInternalModel;
14 class AABBCollisionNode;
40 virtual int detectTriTriOverlap(
67 virtual int apply(
const Opcode::AABBCollisionNode* b1,
68 const Opcode::AABBCollisionNode* b2,
77 Opcode::MeshInterface* mesh1,
78 Opcode::MeshInterface* mesh2)=0;
Definition: CollisionData.h:16
Definition: CollisionPairInserter.h:17
void clear()
clear collision information
Definition: CollisionPairInserter.h:24
Definition: CollisionPairInserter.h:12
std::vector< cnoid::collision_data > & collisions()
get collision information
Definition: CollisionPairInserter.h:84
virtual ~CollisionPairInserter()
Definition: CollisionPairInserter.h:20
double CD_s2
scale of the second mesh
Definition: CollisionPairInserter.h:100
Definition: ColdetModelInternalModel.h:14
cnoid::Vector3 CD_Trans2
translation of the second mesh
Definition: CollisionPairInserter.h:99
cnoid::Matrix3 CD_Rot1
rotation of the first mesh
Definition: CollisionPairInserter.h:94
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
std::vector< cnoid::collision_data > cdContact
collision information
Definition: CollisionPairInserter.h:102
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
cnoid::Vector3 CD_Trans1
translation of the first mesh
Definition: CollisionPairInserter.h:95
cnoid::Matrix3 CD_Rot2
rotation of the second mesh
Definition: CollisionPairInserter.h:98
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57
double CD_s1
scale of the first mesh
Definition: CollisionPairInserter.h:96