Struct CollisionCallBackCollect

• Defined in File default_broadphase_callbacks.h

Inheritance Relationships

Base Type

• public hpp::fcl::CollisionCallBackBase (Struct CollisionCallBackBase)

Struct Documentation

struct CollisionCallBackCollect : public hpp::fcl::CollisionCallBackBase

Collision callback to collect collision pairs potentially in contacts.

Public Types

typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair

Public Functions

CollisionCallBackCollect(const size_t max_size)

Default constructor.

virtual bool collide(CollisionObject *o1, CollisionObject *o2)

Collision evaluation between two objects in collision. This callback will cause the broadphase evaluation to stop if it returns true.

Parameters:

• o1 – [in] Collision object #1.

• o2 – [in] Collision object #2.

size_t numCollisionPairs() const

Returns the number of registered collision pairs.

const std::vector<CollisionPair> &getCollisionPairs() const

Returns a const reference to the active collision_pairs to check.

virtual void init()

Reset the callback.

bool exist(const CollisionPair &pair) const

Check wether a collision pair exists.

inline virtual ~CollisionCallBackCollect()

Protected Attributes

std::vector<CollisionPair> collision_pairs

size_t max_size