FCL  0.6.0
Flexible Collision Library
collision_result.h
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35 
38 #ifndef FCL_COLLISIONRESULT_H
39 #define FCL_COLLISIONRESULT_H
40 
41 #include <set>
42 #include <vector>
43 #include "fcl/common/types.h"
44 #include "fcl/narrowphase/contact.h"
45 #include "fcl/narrowphase/cost_source.h"
46 
47 namespace fcl
48 {
49 
51 template <typename S>
52 struct CollisionResult
53 {
54 private:
56  std::vector<Contact<S>> contacts;
57 
59  std::set<CostSource<S>> cost_sources;
60 
61 public:
62  Vector3<S> cached_gjk_guess;
63 
64 public:
65  CollisionResult();
66 
68  void addContact(const Contact<S>& c);
69 
71  void addCostSource(const CostSource<S>& c, std::size_t num_max_cost_sources);
72 
74  bool isCollision() const;
75 
77  size_t numContacts() const;
78 
80  size_t numCostSources() const;
81 
83  const Contact<S>& getContact(size_t i) const;
84 
86  void getContacts(std::vector<Contact<S>>& contacts_);
87 
89  void getCostSources(std::vector<CostSource<S>>& cost_sources_);
90 
92  void clear();
93 };
94 
95 using CollisionResultf = CollisionResult<float>;
96 using CollisionResultd = CollisionResult<double>;
97 
98 } // namespace fcl
99 
100 #include "fcl/narrowphase/collision_result-inl.h"
101 
102 #endif
void addCostSource(const CostSource< S > &c, std::size_t num_max_cost_sources)
add one cost source into result structure
Definition: collision_result-inl.h:66
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
bool isCollision() const
return binary collision result
Definition: collision_result-inl.h:76
const Contact< S > & getContact(size_t i) const
get the i-th contact calculated
Definition: collision_result-inl.h:97
size_t numContacts() const
number of contacts found
Definition: collision_result-inl.h:83
void getContacts(std::vector< Contact< S >> &contacts_)
get all the contacts
Definition: collision_result-inl.h:107
size_t numCostSources() const
number of cost sources found
Definition: collision_result-inl.h:90
void getCostSources(std::vector< CostSource< S >> &cost_sources_)
get all the cost sources
Definition: collision_result-inl.h:116
void clear()
clear the results obtained
Definition: collision_result-inl.h:125
void addContact(const Contact< S > &c)
add one contact into result structure
Definition: collision_result-inl.h:59