package gazebo.msgs;

/// \ingroup gazebo_msgs
/// \interface Contact
/// \brief Contact message for passing info between two entities


import "vector3d.proto";
import "time.proto";
import "joint_wrench.proto";

message Contact
{
  required string collision1 = 1;
  required string collision2 = 2;

  repeated Vector3d position  = 3;
  repeated Vector3d normal    = 4;
  repeated double depth       = 5;
  repeated JointWrench wrench = 6;

  required Time time         = 7;
  required string world      = 8;
}
