DART  6.10.1
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< CollisionFiltercollisionFilter
 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

◆ 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.