DART
6.10.1
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#include <CollisionOption.hpp>
Public Member Functions | |
CollisionOption (bool enableContact=true, std::size_t maxNumContacts=1000u, const std::shared_ptr< CollisionFilter > &collisionFilter=nullptr) | |
Constructor. More... | |
Public Attributes | |
bool | enableContact |
Flag whether the collision detector computes contact information (contact point, normal, and penetration depth). More... | |
std::size_t | maxNumContacts |
Maximum number of contacts to detect. More... | |
std::shared_ptr< CollisionFilter > | collisionFilter |
CollisionFilter. More... | |
dart::collision::CollisionOption::CollisionOption | ( | bool | enableContact = true , |
std::size_t | maxNumContacts = 1000u , |
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const std::shared_ptr< CollisionFilter > & | collisionFilter = nullptr |
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) |
Constructor.
std::shared_ptr<CollisionFilter> dart::collision::CollisionOption::collisionFilter |
bool dart::collision::CollisionOption::enableContact |
Flag whether the collision detector computes contact information (contact point, normal, and penetration depth).
If it is set to false, only the result of that which pairs are colliding will be stored in the CollisionResult without the contact information.
std::size_t dart::collision::CollisionOption::maxNumContacts |
Maximum number of contacts to detect.
Once the contacts are found up to this number, the collision checking will terminate at that moment. Set this to 1 for binary check.