DistanceResult.hpp

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#ifndef DART_COLLISION_DISTANCE_RESULT_HPP_
#define DART_COLLISION_DISTANCE_RESULT_HPP_

#include <Eigen/Dense>

namespace dart {

namespace dynamics {
class ShapeFrame;
} // namespace dynamics

namespace collision {

struct DistanceResult
{
  double minDistance;

  double unclampedMinDistance;

  const dynamics::ShapeFrame* shapeFrame1;

  const dynamics::ShapeFrame* shapeFrame2;

  Eigen::Vector3d nearestPoint1;

  Eigen::Vector3d nearestPoint2;

  DistanceResult();

  void clear();

  bool found() const;

  bool isMinDistanceClamped() const;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_DISTANCE_RESULT_HPP_