request to the collision algorithm More...
#include <hpp/fcl/collision_data.h>
Public Member Functions | |
| CollisionRequest (size_t num_max_contacts_, bool enable_contact_=false, bool enable_distance_lower_bound_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true, GJKSolverType gjk_solver_type_=GST_INDEP) HPP_FCL_DEPRECATED | |
| CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_) | |
| CollisionRequest () | |
| bool | isSatisfied (const CollisionResult &result) const |
Public Attributes | |
| size_t | num_max_contacts |
| The maximum number of contacts will return. More... | |
| bool | enable_contact |
| whether the contact information (normal, penetration depth and contact position) will return More... | |
| bool | enable_distance_lower_bound |
| Whether a lower bound on distance is returned when objects are disjoint. More... | |
| GJKSolverType | gjk_solver_type |
| narrow phase solver More... | |
| bool | enable_cached_gjk_guess |
| whether enable gjk intial guess More... | |
| Vec3f | cached_gjk_guess |
| the gjk intial guess set by user More... | |
| FCL_REAL | security_margin |
| Distance below which objects are considered in collision. More... | |
| FCL_REAL | break_distance |
| Distance below which bounding volumes are break down. More... | |
request to the collision algorithm
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explicit |
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inline |
| bool hpp::fcl::CollisionRequest::isSatisfied | ( | const CollisionResult & | result | ) | const |
Referenced by hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::canStop(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::canStop(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::canStop(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().
| FCL_REAL hpp::fcl::CollisionRequest::break_distance |
Distance below which bounding volumes are break down.
| Vec3f hpp::fcl::CollisionRequest::cached_gjk_guess |
the gjk intial guess set by user
| bool hpp::fcl::CollisionRequest::enable_cached_gjk_guess |
whether enable gjk intial guess
| bool hpp::fcl::CollisionRequest::enable_contact |
whether the contact information (normal, penetration depth and contact position) will return
Referenced by hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().
| bool hpp::fcl::CollisionRequest::enable_distance_lower_bound |
Whether a lower bound on distance is returned when objects are disjoint.
| GJKSolverType hpp::fcl::CollisionRequest::gjk_solver_type |
narrow phase solver
| size_t hpp::fcl::CollisionRequest::num_max_contacts |
The maximum number of contacts will return.
Referenced by hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::leafTesting(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().
| FCL_REAL hpp::fcl::CollisionRequest::security_margin |
Distance below which objects are considered in collision.
Referenced by hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::leafTesting(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().
1.8.11
