HAPTIX API
Information about contacts. More...
#include <haptix_sim.h>
Data Fields | |
| int | body1 [30] |
| Contact descriptors. More... | |
| int | body2 [30] |
| Contacting body 2. More... | |
| float | distance [30] |
| Data in contact frame, with axis order (normal, tangent1, tangent2). More... | |
| float | force [30][3] |
| Contact force. More... | |
| int | ncontact |
| Number of currently active contacts. More... | |
| float | normal [30][3] |
| Contact normal (unit vector). More... | |
| float | point [30][3] |
| Contact frame relative to global frame. More... | |
| float | tangent1 [30][3] |
| First tangent (unit vector). More... | |
| float | tangent2 [30][3] |
| Second tangent (unit vector). More... | |
| float | velocity [30][3] |
| Relative velocity. More... | |
Information about contacts.
| int hxsContact::body1[30] |
Contact descriptors.
contacting body 1.
| int hxsContact::body2[30] |
Contacting body 2.
| float hxsContact::distance[30] |
Data in contact frame, with axis order (normal, tangent1, tangent2).
Normal distance.
| float hxsContact::force[30][3] |
Contact force.
| int hxsContact::ncontact |
Number of currently active contacts.
| float hxsContact::normal[30][3] |
Contact normal (unit vector).
| float hxsContact::point[30][3] |
Contact frame relative to global frame.
Contact point.
| float hxsContact::tangent1[30][3] |
First tangent (unit vector).
| float hxsContact::tangent2[30][3] |
Second tangent (unit vector).
| float hxsContact::velocity[30][3] |
Relative velocity.