gz/physics/GetContacts.hh
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73 ExpectData<ExtraContactData> >;
Identity collision2
Identity of the second body.
Definition: gz/physics/GetContacts.hh:92
If your feature is known to require any other features, then you should have your feature class inher...
Definition: gz/physics/FeatureList.hh:108
Definition: gz/physics/GetContacts.hh:61
Definition: gz/physics/GetContacts.hh:53
This struct is used to conveniently convert from a policy to a geometric type. Example usage:
Definition: gz/physics/Geometry.hh:69
STL class.
The SpecifyData class allows you to form combinations of data specifications. In other words,...
Definition: gz/physics/SpecifyData.hh:265
ShapePtr< PolicyT, FeaturesT > ShapePtrType
Definition: gz/physics/GetContacts.hh:56
Scalar depth
The penetration depth.
Definition: gz/physics/GetContacts.hh:49
VectorType normal
The normal of the force acting on the first body expressed in the world frame.
Definition: gz/physics/GetContacts.hh:47
GetContactsFromLastStepFeature is a feature for retrieving the list of contacts generated in the prev...
Definition: gz/physics/GetContacts.hh:33
virtual std::vector< ContactInternal > GetContactsFromLastStep(const Identity &_worldID) const =0
Definition: gz/physics/Feature.hh:92
VectorType force
The contact force acting on the first body expressed in the world frame.
Definition: gz/physics/GetContacts.hh:44
typename PolicyT::Scalar Scalar
Definition: gz/physics/GetContacts.hh:82
VectorType point
The point of contact expressed in the world frame.
Definition: gz/physics/GetContacts.hh:94
The CompositeData class allows arbitrary data structures to be composed together, copied,...
Definition: gz/physics/CompositeData.hh:43
CompositeData extraData
Extra data related to contact.
Definition: gz/physics/GetContacts.hh:96
Placeholder class in case a Feature does not define its own World API.
Definition: gz/physics/Feature.hh:49
typename PolicyT::Scalar Scalar
Definition: gz/physics/GetContacts.hh:55
typename FromPolicy< PolicyT >::template Use< Vector > VectorType
Definition: gz/physics/GetContacts.hh:84
typename FromPolicy< PolicyT >::template Use< Vector > VectorType
Definition: gz/physics/GetContacts.hh:58
typename PolicyT::Scalar Scalar
Definition: gz/physics/GetContacts.hh:39
Definition: gz/physics/GetContacts.hh:37
Definition: gz/physics/GetContacts.hh:87
Definition: gz/physics/GetContacts.hh:80
Identity collision1
Identity of the first body.
Definition: gz/physics/GetContacts.hh:90
ShapePtrType collision2
Collision shape of the second body.
Definition: gz/physics/GetContacts.hh:66
std::vector< Contact > GetContactsFromLastStep() const
Get contacts generated in the previous simulation step.
VectorType point
The point of contact expressed in the world frame.
Definition: gz/physics/GetContacts.hh:68
ShapePtrType collision1
Collision shape of the first body.
Definition: gz/physics/GetContacts.hh:64
typename FromPolicy< PolicyT >::template Use< Vector > VectorType
Definition: gz/physics/GetContacts.hh:40