collision_request.h

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#ifndef FCL_COLLISIONREQUEST_H
#define FCL_COLLISIONREQUEST_H
 
#include "fcl/common/types.h"
#include "fcl/narrowphase/gjk_solver_type.h"
 
namespace fcl
{
 
template <typename S>
struct CollisionResult;
 
template <typename S>
struct FCL_EXPORT CollisionRequest
{
  typedef typename Eigen::NumTraits<S>::Real Real;
 
  size_t num_max_contacts;
 
  bool enable_contact;
 
  // TODO(SeanCurtis-TRI): Provide clear definitions for what "cost sources"
  // are.
 
  size_t num_max_cost_sources;
 
  bool enable_cost;
 
  bool use_approximate_cost;
 
  GJKSolverType gjk_solver_type;
 
  // TODO(SeanCurtis-TRI): Consider swapping these *two* parameters with a
  // single std::optional<Vector3<S>>.
  bool enable_cached_gjk_guess;
  
  Vector3<S> cached_gjk_guess;
 
  // TODO(SeanCurtis-TRI): Document the implications of this tolerance; right
  // now it is not clear *at all* what turning this knob will do to the results.
  Real gjk_tolerance{1e-6};
 
  CollisionRequest(size_t num_max_contacts_ = 1,
                   bool enable_contact_ = false,
                   size_t num_max_cost_sources_ = 1,
                   bool enable_cost_ = false,
                   bool use_approximate_cost_ = true,
                   GJKSolverType gjk_solver_type_ = GST_LIBCCD,
                   Real gjk_tolerance_ = 1e-6);
 
  bool isSatisfied(const CollisionResult<S>& result) const;
};
 
using CollisionRequestf = CollisionRequest<float>;
using CollisionRequestd = CollisionRequest<double>;
 
} // namespace fcl
 
#include "fcl/narrowphase/collision_request-inl.h"
 
#endif