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 # rocky\_contact\_intermediate\_data\_api

 Last update: 17.07.2025 

<a id="l00001" name="l00001"></a> 1\#pragma once

<a id="l00002" name="l00002"></a> 2 

<a id="l00003" name="l00003"></a> 3// Includes ========================================================================================

<a id="l00004" name="l00004"></a> 4\#include &lt;rocky20/model/contact\_data.h&gt;

<a id="l00005" name="l00005"></a> 5 

<a id="l00006" name="l00006"></a> 6// ================================================================================================

<a id="l00007" name="l00007"></a> 7// IRockyContactIntermediateData

<a id="l00008" name="l00008"></a> 8// ================================================================================================

<a id="l00009" name="l00009"></a> 9 

<a id="l00016" name="l00016"></a>[ 16](structIRockyContactIntermediateData.xhtml)struct [IRockyContactIntermediateData](structIRockyContactIntermediateData.xhtml)

<a id="l00017" name="l00017"></a> 17{

<a id="l00022" name="l00022"></a> 22 ROCKY_FUNCTIONS double3 [get\_home\_centroid\_to\_contact\_point\_vector](structIRockyContactIntermediateData.xhtml#ae7271a8689305777b1f39beb47898553)() const;

<a id="l00023" name="l00023"></a> 23 

<a id="l00028" name="l00028"></a> 28 ROCKY_FUNCTIONS double3 [get\_near\_centroid\_to\_contact\_point\_vector](structIRockyContactIntermediateData.xhtml#a00c355cde831bad36cd029544a7bbb16)() const;

<a id="l00029" name="l00029"></a> 29 

<a id="l00039" name="l00039"></a> 39 ROCKY_FUNCTIONS double [get\_friction\_coefficient](structIRockyContactIntermediateData.xhtml#a3efba296a1d32e115acbb7071cdbf775)() const;

<a id="l00040" name="l00040"></a> 40 

<a id="l00043" name="l00043"></a> 43 cuda_contact_intermediate_data _idata;

<a id="l00044" name="l00044"></a> 44 

<a id="l00046" name="l00046"></a> 46};



<a id="l00047" name="l00047"></a> 47 

<a id="l00048" name="l00048"></a>[ 48](structIRockyContactIntermediateData.xhtml#ae7271a8689305777b1f39beb47898553)inline ROCKY_FUNCTIONS double3 [IRockyContactIntermediateData::get\_home\_centroid\_to\_contact\_point\_vector](structIRockyContactIntermediateData.xhtml#ae7271a8689305777b1f39beb47898553)() const

<a id="l00049" name="l00049"></a> 49{

<a id="l00050" name="l00050"></a> 50 return this-&gt;_idata.home_arm;

<a id="l00051" name="l00051"></a> 51}



<a id="l00052" name="l00052"></a> 52 

<a id="l00053" name="l00053"></a>[ 53](structIRockyContactIntermediateData.xhtml#a00c355cde831bad36cd029544a7bbb16)inline ROCKY_FUNCTIONS double3 [IRockyContactIntermediateData::get\_near\_centroid\_to\_contact\_point\_vector](structIRockyContactIntermediateData.xhtml#a00c355cde831bad36cd029544a7bbb16)() const

<a id="l00054" name="l00054"></a> 54{

<a id="l00055" name="l00055"></a> 55 return this-&gt;_idata.near_arm;

<a id="l00056" name="l00056"></a> 56}



<a id="l00057" name="l00057"></a> 57 

<a id="l00058" name="l00058"></a>[ 58](structIRockyContactIntermediateData.xhtml#a3efba296a1d32e115acbb7071cdbf775)inline ROCKY_FUNCTIONS double [IRockyContactIntermediateData::get\_friction\_coefficient](structIRockyContactIntermediateData.xhtml#a3efba296a1d32e115acbb7071cdbf775)() const

<a id="l00059" name="l00059"></a> 59{

<a id="l00060" name="l00060"></a> 60 return this-&gt;_idata.friction_coefficient;

<a id="l00061" name="l00061"></a> 61}



[IRockyContactIntermediateData](structIRockyContactIntermediateData.xhtml)

**Definition** rocky_contact_intermediate_data_api.hpp:17



[IRockyContactIntermediateData::get\_near\_centroid\_to\_contact\_point\_vector](structIRockyContactIntermediateData.xhtml#a00c355cde831bad36cd029544a7bbb16)

ROCKY_FUNCTIONS double3 get_near_centroid_to_contact_point_vector() const

**Definition** rocky_contact_intermediate_data_api.hpp:53



[IRockyContactIntermediateData::get\_friction\_coefficient](structIRockyContactIntermediateData.xhtml#a3efba296a1d32e115acbb7071cdbf775)

ROCKY_FUNCTIONS double get_friction_coefficient() const

**Definition** rocky_contact_intermediate_data_api.hpp:58



[IRockyContactIntermediateData::get\_home\_centroid\_to\_contact\_point\_vector](structIRockyContactIntermediateData.xhtml#ae7271a8689305777b1f39beb47898553)

ROCKY_FUNCTIONS double3 get_home_centroid_to_contact_point_vector() const

**Definition** rocky_contact_intermediate_data_api.hpp:48