dart::collision::CollisionResult Class Reference

#include <CollisionResult.hpp>

Public Member Functions
void	addContact (const Contact &contact)
	Add one contact. More...
std::size_t	getNumContacts () const
	Return number of contacts. More...
Contact &	getContact (std::size_t index)
	Return the index-th contact. More...
const Contact &	getContact (std::size_t index) const
	Return (const) the index-th contact. More...
const std::vector< Contact > &	getContacts () const
	Return contacts. More...
const std::unordered_set< const dynamics::BodyNode * > &	getCollidingBodyNodes () const
	Return the set of BodyNodes that are in collision. More...
const std::unordered_set< const dynamics::ShapeFrame * > &	getCollidingShapeFrames () const
	Return the set of ShapeFrames that are in collision. More...
bool	inCollision (const dynamics::BodyNode *bn) const
	Returns true if the given BodyNode is in collision. More...
bool	inCollision (const dynamics::ShapeFrame *frame) const
	Returns true if the given ShapeFrame is in collision. More...
bool	isCollision () const
	Return binary collision result. More...
	operator bool () const
	Implicitly converts this CollisionResult to the value of isCollision() More...
void	clear ()
	Clear all the contacts. More...

Protected Member Functions
void	addObject (CollisionObject *object)

Protected Attributes
std::vector< Contact >	mContacts
	List of contact information for each contact. More...
std::unordered_set< const dynamics::BodyNode * >	mCollidingBodyNodes
	Set of BodyNodes that are colliding. More...
std::unordered_set< const dynamics::ShapeFrame * >	mCollidingShapeFrames
	Set of ShapeFrames that are colliding. More...

Member Function Documentation

addContact()

void dart::collision::CollisionResult::addContact

(

const Contact &

contact

)

Add one contact.

addObject()

void dart::collision::CollisionResult::addObject ( CollisionObject *  object )

protected

clear()

void dart::collision::CollisionResult::clear

(

)

Clear all the contacts.

getCollidingBodyNodes()

const std::unordered_set< const dynamics::BodyNode * > & dart::collision::CollisionResult::getCollidingBodyNodes

(

)

const

Return the set of BodyNodes that are in collision.

getCollidingShapeFrames()

const std::unordered_set< const dynamics::ShapeFrame * > & dart::collision::CollisionResult::getCollidingShapeFrames

(

)

const

Return the set of ShapeFrames that are in collision.

getContact() [1/2]

Contact & dart::collision::CollisionResult::getContact

(

std::size_t

index

)

Return the index-th contact.

getContact() [2/2]

const Contact & dart::collision::CollisionResult::getContact

(

std::size_t

index

)

const

Return (const) the index-th contact.

getContacts()

const std::vector< Contact > & dart::collision::CollisionResult::getContacts

(

)

const

Return contacts.

getNumContacts()

std::size_t dart::collision::CollisionResult::getNumContacts

(

)

const

Return number of contacts.

inCollision() [1/2]

bool dart::collision::CollisionResult::inCollision

(

const dynamics::BodyNode *

bn

)

const

Returns true if the given BodyNode is in collision.

inCollision() [2/2]

bool dart::collision::CollisionResult::inCollision

(

const dynamics::ShapeFrame *

frame

)

const

Returns true if the given ShapeFrame is in collision.

isCollision()

bool dart::collision::CollisionResult::isCollision

(

)

const

Return binary collision result.

operator bool()

dart::collision::CollisionResult::operator bool

(

)

const

Implicitly converts this CollisionResult to the value of isCollision()

Member Data Documentation

mCollidingBodyNodes

std::unordered_set<const dynamics::BodyNode*> dart::collision::CollisionResult::mCollidingBodyNodes

protected

Set of BodyNodes that are colliding.

mCollidingShapeFrames

std::unordered_set<const dynamics::ShapeFrame*> dart::collision::CollisionResult::mCollidingShapeFrames

protected

Set of ShapeFrames that are colliding.

mContacts

std::vector<Contact> dart::collision::CollisionResult::mContacts

protected

List of contact information for each contact.