Template Function pinocchio::computeCollisions(BroadPhaseManagerBase<BroadPhaseManagerDerived>&, CollisionCallBackBase *)
Defined in File broadphase.hpp
Function Documentation
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template<typename BroadPhaseManagerDerived>
bool pinocchio::computeCollisions(BroadPhaseManagerBase<BroadPhaseManagerDerived> &broadphase_manager, CollisionCallBackBase *callback) Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements and broadphase_manager.update() have been called first.
Warning
if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).
- Parameters:
broadphase_manager – [in] broadphase instance for collision detection.
callback – [in] callback pointer used for collision detection.
stopAtFirstCollision – [in] if true, stop the loop over the collision pairs when the first collision is detected.