collision_result.h

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#ifndef FCL_COLLISIONRESULT_H
#define FCL_COLLISIONRESULT_H
 
#include <set>
#include <vector>
#include "fcl/common/types.h"
#include "fcl/narrowphase/contact.h"
#include "fcl/narrowphase/cost_source.h"
 
namespace fcl
{
 
template <typename S>
struct FCL_EXPORT CollisionResult
{
private:
  std::vector<Contact<S>> contacts;
 
  std::set<CostSource<S>> cost_sources;
 
public:
  Vector3<S> cached_gjk_guess;
 
public:
  CollisionResult();
 
  void addContact(const Contact<S>& c);
 
  void addCostSource(const CostSource<S>& c, std::size_t num_max_cost_sources);
 
  bool isCollision() const;
 
  size_t numContacts() const;
 
  size_t numCostSources() const;
 
  const Contact<S>& getContact(size_t i) const;
 
  void getContacts(std::vector<Contact<S>>& contacts_);
 
  void getCostSources(std::vector<CostSource<S>>& cost_sources_);
 
  void clear();
};
 
using CollisionResultf = CollisionResult<float>;
using CollisionResultd = CollisionResult<double>;
 
} // namespace fcl
 
#include "fcl/narrowphase/collision_result-inl.h"
 
#endif