hpp::fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

Public Member Functions
	CollisionResult ()
void	addContact (const Contact &c)
	add one contact into result structure More...
bool	operator== (const CollisionResult &other) const
	whether two CollisionResult are the same or not More...
bool	isCollision () const
	return binary collision result More...
size_t	numContacts () const
	number of contacts 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	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...

Friends
void	invertResults (CollisionResult &result)
	reposition Contact objects when fcl inverts them during their construction. More...

Detailed Description

collision result

Constructor & Destructor Documentation

hpp::fcl::CollisionResult::CollisionResult ( )

inline

Member Function Documentation

void hpp::fcl::CollisionResult::addContact ( const Contact &  c )

inline

add one contact into result structure

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().

void hpp::fcl::CollisionResult::clear ( )

inline

clear the results obtained

const Contact& hpp::fcl::CollisionResult::getContact ( size_t  i ) const

inline

get the i-th contact calculated

void hpp::fcl::CollisionResult::getContacts ( std::vector< Contact > &  contacts_ )

inline

get all the contacts

bool hpp::fcl::CollisionResult::isCollision ( ) const

inline

return binary collision result

Referenced by hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::leafTesting(), and hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::leafTesting().

size_t hpp::fcl::CollisionResult::numContacts ( ) const

inline

number of contacts found

Referenced by hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

bool hpp::fcl::CollisionResult::operator== ( const CollisionResult &  other ) const

inline

whether two CollisionResult are the same or not

References distance_lower_bound.

Friends And Related Function Documentation

void invertResults ( CollisionResult &  result )

friend

reposition Contact objects when fcl inverts them during their construction.

Member Data Documentation

Vec3f hpp::fcl::CollisionResult::cached_gjk_guess

FCL_REAL hpp::fcl::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint.

Note

computed only on request.

Referenced by operator==().