Class collisionDetector

class collisionDetector

Public Functions

explicit collisionDetector(const shared_ptr<softRobots> &soft_robots, double col_limit, double delta, bool self_contact)

void broadPhaseCollisionDetection()

void narrowPhaseCollisionDetection()

Public Members

int num_collisions

double min_dist

vector<contact_pair> broad_phase_collision_set

vector<Eigen::Vector<int, 8>> contact_ids

struct contact_pair

Public Functions

inline contact_pair(limb_edge_info *c1, limb_edge_info *c2)

Public Members

limb_edge_info *c1

limb_edge_info *c2

struct limb_edge_info

Public Functions

inline limb_edge_info(int limb_id, int edge_id)

Public Members

int limb_id

int edge_id