#include <DistanceOption.hpp>

Public Member Functions
	DistanceOption (bool enableNearestPoints=false, double distanceLowerBound=0.0, const std::shared_ptr< DistanceFilter > &distanceFilter=nullptr)
	Constructor. More...

Public Attributes
bool	enableNearestPoints
	Whether to calculate the nearest points. More...

double	distanceLowerBound
	Stopping criteria for distance calculation in broadphase. More...

std::shared_ptr< DistanceFilter >	distanceFilter
	Distance filter for excluding ShapeFrame pairs from distance calculation in broadphase. More...

Constructor & Destructor Documentation

◆ DistanceOption()

dart::collision::DistanceOption::DistanceOption	(	bool	enableNearestPoints = `false`,
		double	distanceLowerBound = `0.0`,
		const std::shared_ptr< DistanceFilter > &	distanceFilter = `nullptr`
	)

Constructor.

Member Data Documentation

◆ distanceFilter

std::shared_ptr<DistanceFilter> dart::collision::DistanceOption::distanceFilter

Distance filter for excluding ShapeFrame pairs from distance calculation in broadphase.

If nullptr, every pairs of ShapeFrames in the CollisionGroup(s) are checked. The default is nullptr.

See also: DistanceFilter

◆ distanceLowerBound

double dart::collision::DistanceOption::distanceLowerBound

Stopping criteria for distance calculation in broadphase.

This option is used for early termination of distance calculate that stops as soon as a distance is found that is equal to or less than the lower bound. If you want to check all the shape pairs without the early termination then set this value to -inf.

The default value is 0.0.

◆ enableNearestPoints

bool dart::collision::DistanceOption::enableNearestPoints

Whether to calculate the nearest points.

The default is false.

See also: DistanceResult::nearestPoint1, DistanceResult::nearestPoint2