raisim::RayCollisionItem

class · #include <raisim/rayCollision.hpp>

One ray hit returned by World::rayTest().

Public member functions

getObject

const Object *getObject() const

Returns The object hit by the ray, or nullptr if none.

getPosition

const Eigen::Vector3d &getPosition() const

Returns World-frame contact position for the hit.

getNormal

const Eigen::Vector3d &getNormal() const

Returns World-frame unit normal of the surface hit, pointing toward the side the ray came from.

getCollisionBody

CollisionBodyHandlePtr getCollisionBody() const

Returns Collision body handle for the hit, if available.