##

Contact Class Reference
Physics

A contact between two collisions. Each contact can consist of a number of contact points. More...

`#include <physics/physics.hh>`

## Public Member Functions

| Contact ()
| Constructor. More...
| Contact (const Contact &_contact)
| Copy constructor. More...
virtual | ~Contact ()
| Destructor. More...
std::string | DebugString () const
| Produce a debug string. More...
void | FillMsg (msgs::Contact &_msg) const
| Populate a msgs::Contact with data from this. More...
Contact & | operator= (const Contact &_contact)
| Operator =. More...
Contact & | operator= (const msgs::Contact &_contact)
| Operator =. More...
void | Reset ()
| Reset to default values. More...

## Public Attributes

Collision * | collision1
| Pointer to the first collision object. More...
Collision * | collision2
| Pointer to the second collision object. More...
int | count
| Length of all the arrays. More...
double | depths [250]
| Array of contact depths. More...
ignition::math::Vector3d | normals [250]
| Array of force normals. More...
ignition::math::Vector3d | positions [250]
| Array of force positions. More...
common::Time | time
| Time at which the contact occurred. More...
WorldPtr | world
| World in which the contact occurred. More...
JointWrench | wrench [250]
| Array of forces for the contact. More...

## Detailed Description

A contact between two collisions. Each contact can consist of a number of contact points.

## Constructor & Destructor Documentation

## Contact() [1/2]

Contact | ( |  | ) |

Constructor.

## Contact() [2/2]

Contact | ( | const Contact & | _contact | ) |

Copy constructor.

Parameters

  [in] | _contact | Contact to copy.

## ~Contact()

virtual ~Contact | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## DebugString()

std::string DebugString | ( |  | ) | const

Produce a debug string.

Returns
  A string that contains the values of the contact.

## FillMsg()

void FillMsg | ( | msgs::Contact & | _msg | ) | const

Populate a msgs::Contact with data from this.

Parameters

  [out] | _msg | Contact message the will hold the data.

## operator=() [1/2]

Contact& operator= | ( | const Contact & | _contact | ) |

Operator =.

Parameters

  [in] | _contact | Contact to copy.

Returns
  Reference to this contact

## operator=() [2/2]

Contact& operator= | ( | const msgs::Contact & | _contact | ) |

Operator =.

Parameters

  [in] | _contact | msgs::Contact to copy.

Returns
  Reference to this contact

## Reset()

void Reset | ( |  | ) |

Reset to default values.

## Member Data Documentation

## collision1

Collision* collision1

Pointer to the first collision object.

## collision2

Collision* collision2

Pointer to the second collision object.

## count

int count

Length of all the arrays.

## depths

double depths[250]

Array of contact depths.

## normals

ignition::math::Vector3d normals[250]

Array of force normals.

## positions

ignition::math::Vector3d positions[250]

Array of force positions.

## time

common::Time time

Time at which the contact occurred.

## world

WorldPtr world

World in which the contact occurred.

## wrench

JointWrench wrench[250]

Array of forces for the contact.

All forces and torques are in the world frame. All forces and torques are relative to the center of mass of the respective links that the collision elments are attached to.

The documentation for this class was generated from the following file:

- Contact.hh