#include <DistanceResult.hpp>

Public Member Functions
	DistanceResult ()
	Constructor. More...

void	clear ()
	Clear the result. More...

bool	found () const
	Get true if the result is valid (at least one shape pair was checked and the result values are good to use). More...

bool	isMinDistanceClamped () const
	Get true if the minimum distance was not clamped (minDistance == unclampedMinDistance). More...

Public Attributes
double	minDistance
	Minimum singed distance between the checked Shape pairs. More...

double	unclampedMinDistance
	Unclamped minimum distance that is the first distance equal to or less than DistanceOption::distanceLowerBound. More...

const dynamics::ShapeFrame *	shapeFrame1
	First ShapeFrame of the minDistance. More...

const dynamics::ShapeFrame *	shapeFrame2
	Second ShapeFrame of the minDistance. More...

Eigen::Vector3d	nearestPoint1
	The nearest point on DistanceResult::shapeFrame1 expressed in the world coordinates. More...

Eigen::Vector3d	nearestPoint2
	The nearest point on DistanceResult::shapeFrame2 expressed the world coordinates. More...

Constructor & Destructor Documentation

◆ DistanceResult()

dart::collision::DistanceResult::DistanceResult ( )

Constructor.

Member Function Documentation

◆ clear()

void dart::collision::DistanceResult::clear ( )

Clear the result.

◆ found()

bool dart::collision::DistanceResult::found ( ) const

Get true if the result is valid (at least one shape pair was checked and the result values are good to use).

◆ isMinDistanceClamped()

bool dart::collision::DistanceResult::isMinDistanceClamped ( ) const

Get true if the minimum distance was not clamped (minDistance == unclampedMinDistance).

Member Data Documentation

◆ minDistance

double dart::collision::DistanceResult::minDistance

Minimum singed distance between the checked Shape pairs.

If no shape pair was checked (the collision group was empty or all pairs were excluded by the filter) then this value will be remained the default value 0.0. You can check if a valid distance was found using DistanceResult::found() that returns true when it's found.

The result minimum distance is clamped by DistanceOption::distanceLowerBound (min. distance >= distance lower bound). You can still get the unclamped distance from DistanceResult::unclampedMinDistance.

If the minimum distance is negative value, that means the distance is the negative penetration depth measured from the shapes that are in collision.

◆ nearestPoint1

Eigen::Vector3d dart::collision::DistanceResult::nearestPoint1

The nearest point on DistanceResult::shapeFrame1 expressed in the world coordinates.

The point is calculated only when DistanceOption::enableNearestPoints is true.

The distance between the two nearest points is equal to unclampedMinDistance rather than minDistance.

◆ nearestPoint2

Eigen::Vector3d dart::collision::DistanceResult::nearestPoint2

The nearest point on DistanceResult::shapeFrame2 expressed the world coordinates.

The point is calculated only when DistanceOption::enableNearestPoints is true.

The distance between the two nearest points is equal to unclampedMinDistance rather than minDistance.

◆ shapeFrame1

const dynamics::ShapeFrame* dart::collision::DistanceResult::shapeFrame1

First ShapeFrame of the minDistance.

If no shape pair was checked then shapeFrame1 will be nullptr.

◆ shapeFrame2

const dynamics::ShapeFrame* dart::collision::DistanceResult::shapeFrame2

Second ShapeFrame of the minDistance.

If no shape pair was checked then shapeFrame2 will be nullptr.

◆ unclampedMinDistance

double dart::collision::DistanceResult::unclampedMinDistance

Unclamped minimum distance that is the first distance equal to or less than DistanceOption::distanceLowerBound.

Warning: This value is implementation defined, which means the value could be different depending on various factors (e.g., the collision detector and even the version of the collision detector), and we don't intend this value to be (reasonably) indentical over thoes factors. This valude is for debugging purpose or advanced use.

Public Member Functions

Public Attributes