dart::collision::CollisionOption Struct Reference

#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...

Constructor & Destructor Documentation

CollisionOption()

dart::collision::CollisionOption::CollisionOption	(	bool	enableContact = true,
		std::size_t	maxNumContacts = 1000u,
		const std::shared_ptr< CollisionFilter > &	collisionFilter = nullptr
	)

Constructor.

Member Data Documentation

collisionFilter

std::shared_ptr<CollisionFilter> dart::collision::CollisionOption::collisionFilter

CollisionFilter.

enableContact

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.

maxNumContacts

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.