1 /* 2 * Copyright (c) 2011-2021, The DART development contributors 3 * All rights reserved. 4 * 5 * The list of contributors can be found at: 6 * https://github.com/dartsim/dart/blob/master/LICENSE 7 * 8 * This file is provided under the following "BSD-style" License: 9 * Redistribution and use in source and binary forms, with or 10 * without modification, are permitted provided that the following 11 * conditions are met: 12 * * Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * * Redistributions in binary form must reproduce the above 15 * copyright notice, this list of conditions and the following 16 * disclaimer in the documentation and/or other materials provided 17 * with the distribution. 18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF 26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 * POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 #ifndef DART_COLLISION_COLLISIONRESULT_HPP_ 34 #define DART_COLLISION_COLLISIONRESULT_HPP_ 35 36 #include <unordered_set> 37 #include <vector> 38 #include "dart/collision/Contact.hpp" 39 40 namespace dart { 41 42 namespace dynamics { 43 44 class BodyNode; 45 class ShapeFrame; 46 47 } // namespace dynamics 48 49 namespace collision { 50 51 class CollisionResult 52 { 53 public: 54 /// Add one contact 55 void addContact(const Contact& contact); 56 57 /// Return number of contacts 58 std::size_t getNumContacts() const; 59 60 /// Return the index-th contact 61 Contact& getContact(std::size_t index); 62 63 /// Return (const) the index-th contact 64 const Contact& getContact(std::size_t index) const; 65 66 /// Return contacts 67 const std::vector<Contact>& getContacts() const; 68 69 /// Return the set of BodyNodes that are in collision 70 const std::unordered_set<const dynamics::BodyNode*>& getCollidingBodyNodes() 71 const; 72 73 /// Return the set of ShapeFrames that are in collision 74 const std::unordered_set<const dynamics::ShapeFrame*>& 75 getCollidingShapeFrames() const; 76 77 /// Returns true if the given BodyNode is in collision 78 bool inCollision(const dynamics::BodyNode* bn) const; 79 80 /// Returns true if the given ShapeFrame is in collision 81 bool inCollision(const dynamics::ShapeFrame* frame) const; 82 83 /// Return binary collision result 84 bool isCollision() const; 85 86 /// Implicitly converts this CollisionResult to the value of isCollision() 87 operator bool() const; 88 89 /// Clear all the contacts 90 void clear(); 91 92 protected: 93 void addObject(CollisionObject* object); 94 95 /// List of contact information for each contact 96 std::vector<Contact> mContacts; 97 98 /// Set of BodyNodes that are colliding 99 std::unordered_set<const dynamics::BodyNode*> mCollidingBodyNodes; 100 101 /// Set of ShapeFrames that are colliding 102 std::unordered_set<const dynamics::ShapeFrame*> mCollidingShapeFrames; 103 }; 104 105 } // namespace collision 106 } // namespace dart 107 108 #endif // DART_COLLISION_COLLISIONRESULT_HPP_ 109