DART  6.7.3
CollisionOption.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2019, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
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 
69 } // namespace collision
70 } // namespace dart
71 
72 #endif // DART_COLLISION_COLLISIONOPTION_HPP_
Definition: BulletCollisionDetector.cpp:63
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