collision result More...
#include <hpp/fcl/collision_data.h>
Public Member Functions | |
CollisionResult () | |
void | addContact (const Contact &c) |
add one contact into result structure | |
void | addCostSource (const CostSource &c, std::size_t num_max_cost_sources) |
add one cost source into result structure | |
bool | operator== (const CollisionResult &other) const |
whether two CollisionResult are the same or not | |
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 & | getContact (size_t i) const |
get the i-th contact calculated | |
void | getContacts (std::vector< Contact > &contacts_) |
get all the contacts | |
void | getCostSources (std::vector< CostSource > &cost_sources_) |
get all the cost sources | |
void | clear () |
clear the results obtained | |
Public Attributes | |
Vec3f | cached_gjk_guess |
FCL_REAL | distance_lower_bound |
Lower bound on distance between objects if they are disjoint. | |
Friends | |
void | invertResults (CollisionResult &result) |
reposition Contact objects when fcl inverts them during their construction. |
collision result
fcl::CollisionResult::CollisionResult | ( | ) | [inline] |
void fcl::CollisionResult::addContact | ( | const Contact & | c | ) | [inline] |
add one contact into result structure
Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().
void fcl::CollisionResult::addCostSource | ( | const CostSource & | c, |
std::size_t | num_max_cost_sources | ||
) | [inline] |
add one cost source into result structure
Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().
void fcl::CollisionResult::clear | ( | ) | [inline] |
clear the results obtained
const Contact& fcl::CollisionResult::getContact | ( | size_t | i | ) | const [inline] |
get the i-th contact calculated
void fcl::CollisionResult::getContacts | ( | std::vector< Contact > & | contacts_ | ) | [inline] |
get all the contacts
void fcl::CollisionResult::getCostSources | ( | std::vector< CostSource > & | cost_sources_ | ) | [inline] |
get all the cost sources
bool fcl::CollisionResult::isCollision | ( | ) | const [inline] |
return binary collision result
size_t fcl::CollisionResult::numContacts | ( | ) | const [inline] |
number of contacts found
Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), and fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting().
size_t fcl::CollisionResult::numCostSources | ( | ) | const [inline] |
number of cost sources found
bool fcl::CollisionResult::operator== | ( | const CollisionResult & | other | ) | const [inline] |
whether two CollisionResult are the same or not
References distance_lower_bound.
void invertResults | ( | CollisionResult & | result | ) | [friend] |
reposition Contact objects when fcl inverts them during their construction.
Lower bound on distance between objects if they are disjoint.
Referenced by operator==().