CollisionResult.hpp

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#ifndef DART_COLLISION_COLLISIONRESULT_HPP_
#define DART_COLLISION_COLLISIONRESULT_HPP_
 
#include <unordered_set>
#include <vector>
#include "dart/collision/Contact.hpp"
 
namespace dart {
 
namespace dynamics {
 
class BodyNode;
class ShapeFrame;
 
} // namespace dynamics
 
namespace collision {
 
class CollisionResult
{
public:
  void addContact(const Contact& contact);
 
  std::size_t getNumContacts() const;
 
  Contact& getContact(std::size_t index);
 
  const Contact& getContact(std::size_t index) const;
 
  const std::vector<Contact>& getContacts() const;
 
  const std::unordered_set<const dynamics::BodyNode*>& getCollidingBodyNodes()
      const;
 
  const std::unordered_set<const dynamics::ShapeFrame*>&
  getCollidingShapeFrames() const;
 
  bool inCollision(const dynamics::BodyNode* bn) const;
 
  bool inCollision(const dynamics::ShapeFrame* frame) const;
 
  bool isCollision() const;
 
  operator bool() const;
 
  void clear();
 
protected:
  void addObject(CollisionObject* object);
 
  std::vector<Contact> mContacts;
 
  std::unordered_set<const dynamics::BodyNode*> mCollidingBodyNodes;
 
  std::unordered_set<const dynamics::ShapeFrame*> mCollidingShapeFrames;
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_COLLISIONRESULT_HPP_