FCL  0.6.0
Flexible Collision Library
fcl::CollisionRequest< S > Struct Template Reference

request to the collision algorithm More...

#include <collision_request.h>

Public Member Functions

 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

Public Attributes

size_t num_max_contacts
 The maximum number of contacts will return.
bool enable_contact
 whether the contact information (normal, penetration depth and contact position) will return
size_t num_max_cost_sources
 The maximum number of cost sources will return.
bool enable_cost
 whether the cost sources will be computed
bool use_approximate_cost
 whether the cost computation is approximated
GJKSolverType gjk_solver_type
 narrow phase solver
bool enable_cached_gjk_guess
 whether enable gjk intial guess
Vector3< S > cached_gjk_guess
 the gjk intial guess set by user

Detailed Description

template<typename S>
struct fcl::CollisionRequest< S >

request to the collision algorithm

The documentation for this struct was generated from the following files: