RaycastResult.hpp

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#ifndef DART_COLLISION_RAYCASTRESULT_HPP_
#define DART_COLLISION_RAYCASTRESULT_HPP_
 
#include <vector>
#include <Eigen/Dense>
 
namespace dart {
namespace collision {
 
class CollisionObject;
 
struct RayHit
{
  const CollisionObject* mCollisionObject;
 
  Eigen::Vector3d mPoint;
 
  double mFraction;
 
  Eigen::Vector3d mNormal;
 
  RayHit();
};
 
struct RaycastResult
{
  void clear();
 
  bool hasHit() const;
 
  std::vector<RayHit> mRayHits;
 
  RaycastResult();
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_RAYCASTRESULT_HPP_