/usr/include/choreonoid-1.1/cnoid/src/Collision/CollisionData.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 | #ifndef CNOID_COLLISION_COLLISION_DATA_H_INCLUDED
#define CNOID_COLLISION_COLLISION_DATA_H_INCLUDED
#include <cnoid/EigenTypes>
#include "exportdecl.h"
namespace cnoid {
// this is for the client
class collision_data
{
public:
int id1;
int id2;
int num_of_i_points;
Vector3 i_points[4];
int i_point_new[4];
Vector3 n_vector;
double depth;
Vector3 n; // normal vector of triangle id1
Vector3 m; // normal vector of triangle id2
int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact
};
}
#endif
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