CollisionResult.hpp

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#ifndef DART_COLLISION_COLLISIONRESULT_HPP_
#define DART_COLLISION_COLLISIONRESULT_HPP_

#include <unordered_set>
#include <vector>
#include "dart/dynamics/Contact.hpp"

namespace dart {

namespace dynamics {

class BodyNode;
class ShapeFrame;

} // namespace dynamics

namespace collision {

class CollisionResult
{
public:
  void addContact(const Contact& contact);

  std::size_t getNumContacts() const;

  Contact& getContact(std::size_t index);

  const Contact& getContact(std::size_t index) const;

  const std::vector<Contact>& getContacts() const;

  const std::unordered_set<const dynamics::BodyNode*>& getCollidingBodyNodes()
      const;

  const std::unordered_set<const dynamics::ShapeFrame*>&
  getCollidingShapeFrames() const;

  bool inCollision(const dynamics::BodyNode* bn) const;

  bool inCollision(const dynamics::ShapeFrame* frame) const;

  bool isCollision() const;

  operator bool() const;

  void clear();

protected:
  void addObject(CollisionObject* object);

  std::vector<Contact> mContacts;

  std::unordered_set<const dynamics::BodyNode*> mCollidingBodyNodes;

  std::unordered_set<const dynamics::ShapeFrame*> mCollidingShapeFrames;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_COLLISIONRESULT_HPP_