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

collision result More...

#include <collision_result.h>

Public Member Functions

void addContact (const Contact< S > &c)
 add one contact into result structure
void addCostSource (const CostSource< S > &c, std::size_t num_max_cost_sources)
 add one cost source into result structure
bool isCollision () const
 return binary collision result
size_t numContacts () const
 number of contacts found
size_t numCostSources () const
 number of cost sources found
const Contact< S > & getContact (size_t i) const
 get the i-th contact calculated
void getContacts (std::vector< Contact< S >> &contacts_)
 get all the contacts
void getCostSources (std::vector< CostSource< S >> &cost_sources_)
 get all the cost sources
void clear ()
 clear the results obtained

Public Attributes

Vector3< S > cached_gjk_guess

Detailed Description

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

collision result

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