collision_data.cpp

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#include <hpp/fcl/collision_data.h>

namespace hpp {
namespace fcl {

bool CollisionRequest::isSatisfied(const CollisionResult& result) const {
  return result.isCollision() && (num_max_contacts <= result.numContacts());
}

bool DistanceRequest::isSatisfied(const DistanceResult& result) const {
  return (result.min_distance <= 0);
}

}  // namespace fcl

}  // namespace hpp