Dogcows Code - chaz/yoink/blob - src/Moof/Contact.hh

   1
   2 /*]  Copyright (c) 2009-2010, Charles McGarvey  [**************************
   3 **]  All rights reserved.
   4 *
   5 * vi:ts=4 sw=4 tw=75
   6 *
   7 * Distributable under the terms and conditions of the 2-clause BSD license;
   8 * see the file COPYING for a complete text of the license.
   9 *
  10 **************************************************************************/
  11
  12 #ifndef _MOOF_CONTACT_HH_
  13 #define _MOOF_CONTACT_HH_
  14
  15 #include <Moof/Math.hh>
  16
  17
  18 namespace Mf {
  19
  20
  21 template <int D = 3>
  22 struct Contact
  23 {
  24         typedef cml::vector< Scalar, cml::fixed<D> > Vector;
  25
  26         Vector  point;                  // point of contact
  27         Scalar  distance;               // distance of penetration
  28         Vector  normal;                 // normal of surface at point of contact
  29
  30         bool operator < (const Contact& rhs)
  31         {
  32                 return distance < rhs.distance;
  33         }
  34 };
  35
  36
  37 } // namespace Mf
  38
  39 #endif // _MOOF_CONTACT_HH_
  40