DistanceFilter.hpp

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#ifndef DART_COLLISION_DISTANCEFILTER_HPP_
#define DART_COLLISION_DISTANCEFILTER_HPP_
 
namespace dart {
 
namespace dynamics {
class BodyNode;
}  // namespace dynamics
 
namespace collision {
 
class CollisionObject;
 
struct DistanceFilter
{
  virtual bool needDistance(const CollisionObject* object1,
                             const CollisionObject* object2) const = 0;
};
 
struct BodyNodeDistanceFilter : DistanceFilter
{
  bool needDistance(const CollisionObject* object1,
                    const CollisionObject* object2) const override;
 
  bool areAdjacentBodies(const dynamics::BodyNode* bodyNode1,
                         const dynamics::BodyNode* bodyNode2) const;
};
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_DISTANCEFILTER_HPP_