chrono::collision::ChCollisionInfo Class Reference

Description

Class for passing basic data about contact pairs.

#include <ChCCollisionInfo.h>

Collaboration diagram for chrono::collision::ChCollisionInfo:

Public Member Functions

 ChCollisionInfo ()
 Basic default constructor.
 
 ChCollisionInfo (const ChCollisionInfo &other, const bool swap=false)
 Copy from other.
 
void SwapModels ()
 Swap models, that is modelA becomes modelB and viceversa; normal and so on are updates as well. More...
 

Public Attributes

ChCollisionModelmodelA
 model A
 
ChCollisionModelmodelB
 model B
 
ChVector vpA
 coll.point on A, in abs coords
 
ChVector vpB
 coll.point on B, in abs coords
 
ChVector vN
 coll.normal, respect to A, in abs coords
 
double distance
 distance (negative for penetration)
 
float * reaction_cache
 pointer to some persistent user cache of reactions
 

Member Function Documentation

void chrono::collision::ChCollisionInfo::SwapModels ( )

Swap models, that is modelA becomes modelB and viceversa; normal and so on are updates as well.