fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for fcl::CollisionResult:

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

Public Attributes
Vec3f	cached_gjk_guess
FCL_REAL	distance_lower_bound
	Lower bound on distance between objects if they are disjoint. More...

Detailed Description

collision result

Constructor & Destructor Documentation

fcl::CollisionResult::CollisionResult ( )

inline

Member Function Documentation

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

Member Data Documentation

Vec3f fcl::CollisionResult::cached_gjk_guess

FCL_REAL fcl::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint.

Note

computed only on request.