collision_request.h

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#ifndef FCL_COLLISIONREQUEST_H
#define FCL_COLLISIONREQUEST_H

#include "fcl/common/types.h"
#include "fcl/narrowphase/gjk_solver_type.h"

namespace fcl
{

template <typename S>
struct CollisionResult;

template <typename S>
struct CollisionRequest
{  
  size_t num_max_contacts;

  bool enable_contact;

  size_t num_max_cost_sources;

  bool enable_cost;

  bool use_approximate_cost;

  GJKSolverType gjk_solver_type;

  bool enable_cached_gjk_guess;
  
  Vector3<S> cached_gjk_guess;

  CollisionRequest(size_t num_max_contacts_ = 1,
                   bool enable_contact_ = false,
                   size_t num_max_cost_sources_ = 1,
                   bool enable_cost_ = false,
                   bool use_approximate_cost_ = true,
                   GJKSolverType gjk_solver_type_ = GST_LIBCCD);

  bool isSatisfied(const CollisionResult<S>& result) const;
};

using CollisionRequestf = CollisionRequest<float>;
using CollisionRequestd = CollisionRequest<double>;

} // namespace fcl

#include "fcl/narrowphase/collision_request-inl.h"

#endif