DART  6.10.1
DistanceFilter.hpp
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32 
33 #ifndef DART_COLLISION_DISTANCEFILTER_HPP_
34 #define DART_COLLISION_DISTANCEFILTER_HPP_
35 
36 namespace dart {
37 
38 namespace dynamics {
39 class BodyNode;
40 } // namespace dynamics
41 
42 namespace collision {
43 
44 class CollisionObject;
45 
47 {
48  virtual bool needDistance(
49  const CollisionObject* object1, const CollisionObject* object2) const = 0;
50 };
51 
53 {
54  bool needDistance(
55  const CollisionObject* object1,
56  const CollisionObject* object2) const override;
57 
58  bool areAdjacentBodies(
59  const dynamics::BodyNode* bodyNode1,
60  const dynamics::BodyNode* bodyNode2) const;
61 };
62 
63 } // namespace collision
64 } // namespace dart
65 
66 #endif // DART_COLLISION_DISTANCEFILTER_HPP_
Definition: CollisionObject.hpp:45
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
::fcl::CollisionObject CollisionObject
Definition: BackwardCompatibility.hpp:161
Definition: BulletCollisionDetector.cpp:65
Definition: DistanceFilter.hpp:53
bool areAdjacentBodies(const dynamics::BodyNode *bodyNode1, const dynamics::BodyNode *bodyNode2) const
Definition: DistanceFilter.cpp:80
bool needDistance(const CollisionObject *object1, const CollisionObject *object2) const override
Definition: DistanceFilter.cpp:42
Definition: DistanceFilter.hpp:47
virtual bool needDistance(const CollisionObject *object1, const CollisionObject *object2) const =0