DART  6.7.3
CollisionResult.hpp
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32 
33 #ifndef DART_COLLISION_COLLISIONRESULT_HPP_
34 #define DART_COLLISION_COLLISIONRESULT_HPP_
35 
36 #include <vector>
37 #include <unordered_set>
39 
40 namespace dart {
41 
42 namespace dynamics {
43 
44 class BodyNode;
45 class ShapeFrame;
46 
47 } // namespace dynamics
48 
49 namespace collision {
50 
52 {
53 public:
54 
56  void addContact(const Contact& contact);
57 
59  std::size_t getNumContacts() const;
60 
62  Contact& getContact(std::size_t index);
63 
65  const Contact& getContact(std::size_t index) const;
66 
68  const std::vector<Contact>& getContacts() const;
69 
71  const std::unordered_set<const dynamics::BodyNode*>&
72  getCollidingBodyNodes() const;
73 
75  const std::unordered_set<const dynamics::ShapeFrame*>&
77 
79  bool inCollision(const dynamics::BodyNode* bn) const;
80 
82  bool inCollision(const dynamics::ShapeFrame* frame) const;
83 
85  bool isCollision() const;
86 
88  operator bool() const;
89 
91  void clear();
92 
93 protected:
94 
95  void addObject(CollisionObject* object);
96 
98  std::vector<Contact> mContacts;
99 
101  std::unordered_set<const dynamics::BodyNode*> mCollidingBodyNodes;
102 
104  std::unordered_set<const dynamics::ShapeFrame*> mCollidingShapeFrames;
105 
106 };
107 
108 } // namespace collision
109 } // namespace dart
110 
111 #endif // DART_COLLISION_COLLISIONRESULT_HPP_
std::size_t index
Definition: SkelParser.cpp:1617
Definition: CollisionObject.hpp:45
Definition: CollisionResult.hpp:52
std::size_t getNumContacts() const
Return number of contacts.
Definition: CollisionResult.cpp:52
void addObject(CollisionObject *object)
Definition: CollisionResult.cpp:126
void clear()
Clear all the contacts.
Definition: CollisionResult.cpp:118
std::unordered_set< const dynamics::ShapeFrame * > mCollidingShapeFrames
Set of ShapeFrames that are colliding.
Definition: CollisionResult.hpp:104
const std::unordered_set< const dynamics::ShapeFrame * > & getCollidingShapeFrames() const
Return the set of ShapeFrames that are in collision.
Definition: CollisionResult.cpp:88
const std::unordered_set< const dynamics::BodyNode * > & getCollidingBodyNodes() const
Return the set of BodyNodes that are in collision.
Definition: CollisionResult.cpp:81
bool isCollision() const
Return binary collision result.
Definition: CollisionResult.cpp:106
bool inCollision(const dynamics::BodyNode *bn) const
Returns true if the given BodyNode is in collision.
Definition: CollisionResult.cpp:94
void addContact(const Contact &contact)
Add one contact.
Definition: CollisionResult.cpp:44
std::vector< Contact > mContacts
List of contact information for each contact.
Definition: CollisionResult.hpp:98
Contact & getContact(std::size_t index)
Return the index-th contact.
Definition: CollisionResult.cpp:58
std::unordered_set< const dynamics::BodyNode * > mCollidingBodyNodes
Set of BodyNodes that are colliding.
Definition: CollisionResult.hpp:101
const std::vector< Contact > & getContacts() const
Return contacts.
Definition: CollisionResult.cpp:74
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
Definition: ShapeFrame.hpp:164
Definition: BulletCollisionDetector.cpp:63
Contact information.
Definition: Contact.hpp:45