collision_result.h

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#ifndef FCL_COLLISIONRESULT_H
#define FCL_COLLISIONRESULT_H

#include <set>
#include <vector>
#include "fcl/common/types.h"
#include "fcl/narrowphase/contact.h"
#include "fcl/narrowphase/cost_source.h"

namespace fcl
{

template <typename S>
struct CollisionResult
{
private:
  std::vector<Contact<S>> contacts;

  std::set<CostSource<S>> cost_sources;

public:
  Vector3<S> cached_gjk_guess;

public:
  CollisionResult();

  void addContact(const Contact<S>& c);

  void addCostSource(const CostSource<S>& c, std::size_t num_max_cost_sources);

  bool isCollision() const;

  size_t numContacts() const;

  size_t numCostSources() const;

  const Contact<S>& getContact(size_t i) const;

  void getContacts(std::vector<Contact<S>>& contacts_);

  void getCostSources(std::vector<CostSource<S>>& cost_sources_);

  void clear();
};

using CollisionResultf = CollisionResult<float>;
using CollisionResultd = CollisionResult<double>;

} // namespace fcl

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

#endif