DART  6.10.1
CollisionOption.hpp
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32 
33 #ifndef DART_COLLISION_COLLISIONOPTION_HPP_
34 #define DART_COLLISION_COLLISIONOPTION_HPP_
35 
36 #include <cstddef>
37 #include <memory>
38 
39 namespace dart {
40 namespace collision {
41 
42 class CollisionFilter;
43 
45 {
46 
52 
56  std::size_t maxNumContacts;
57 
59  std::shared_ptr<CollisionFilter> collisionFilter;
60 
63  bool enableContact = true,
64  std::size_t maxNumContacts = 1000u,
65  const std::shared_ptr<CollisionFilter>& collisionFilter = nullptr);
66 };
67 
68 } // namespace collision
69 } // namespace dart
70 
71 #endif // DART_COLLISION_COLLISIONOPTION_HPP_
Definition: BulletCollisionDetector.cpp:65
Definition: CollisionOption.hpp:45
std::shared_ptr< CollisionFilter > collisionFilter
CollisionFilter.
Definition: CollisionOption.hpp:59
bool enableContact
Flag whether the collision detector computes contact information (contact point, normal,...
Definition: CollisionOption.hpp:51
std::size_t maxNumContacts
Maximum number of contacts to detect.
Definition: CollisionOption.hpp:56
CollisionOption(bool enableContact=true, std::size_t maxNumContacts=1000u, const std::shared_ptr< CollisionFilter > &collisionFilter=nullptr)
Constructor.
Definition: CollisionOption.cpp:39