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contact.proto
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contact.proto
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/*
* Copyright (C) 2017 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
syntax = "proto3";
package ignition.msgs;
option java_package = "com.ignition.msgs";
option java_outer_classname = "ContactProtos";
/// \ingroup ignition.msgs
/// \interface Contact
/// \brief Contact message for passing info between two entities
import "ignition/msgs/entity.proto";
import "ignition/msgs/vector3d.proto";
import "ignition/msgs/joint_wrench.proto";
import "ignition/msgs/header.proto";
message Contact
{
/// \brief Optional header data
Header header = 1;
Entity collision1 = 2;
Entity collision2 = 3;
repeated Vector3d position = 4;
repeated Vector3d normal = 5;
repeated double depth = 6;
repeated JointWrench wrench = 7;
Entity world = 8;
}