point_pair.h

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#pragma once

#include <Eigen/Dense>
#include <Eigen/StdVector>

#include "Element.h"
#include "drake/drakeCollision_export.h"

namespace DrakeCollision {

struct DRAKECOLLISION_EXPORT PointPair {
  PointPair() {}

  PointPair(const Element* elementA, const Element* elementB,
            const Eigen::Vector3d& ptA, const Eigen::Vector3d& ptB,
            const Eigen::Vector3d& normal, double distance)
      : elementA(elementA), elementB(elementB),
        idA(elementA->getId()), idB(elementB->getId()),
        ptA(ptA), ptB(ptB),
        normal(normal),
        distance(distance) {}

  const Element* elementA{nullptr};

  const Element* elementB{nullptr};

  ElementId idA{0};

  ElementId idB{0};

  Eigen::Vector3d ptA;

  Eigen::Vector3d ptB;

  Eigen::Vector3d normal;

  double distance{};
};

}  // namespace DrakeCollision