DistanceFilter.hpp

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#ifndef DART_COLLISION_DISTANCEFILTER_HPP_
#define DART_COLLISION_DISTANCEFILTER_HPP_

namespace dart {

namespace dynamics {
class BodyNode;
} // namespace dynamics

namespace collision {

class CollisionObject;

struct DistanceFilter
{
  virtual bool needDistance(
      const CollisionObject* object1, const CollisionObject* object2) const = 0;
};

struct BodyNodeDistanceFilter : DistanceFilter
{
  bool needDistance(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;

  bool areAdjacentBodies(
      const dynamics::BodyNode* bodyNode1,
      const dynamics::BodyNode* bodyNode2) const;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_DISTANCEFILTER_HPP_