RaycastResult.hpp

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#ifndef DART_COLLISION_RAYCASTRESULT_HPP_
#define DART_COLLISION_RAYCASTRESULT_HPP_

#include <vector>
#include <Eigen/Dense>

namespace dart {
namespace collision {

class CollisionObject;

struct RayHit
{
  const CollisionObject* mCollisionObject;

  Eigen::Vector3d mPoint;

  double mFraction;

  Eigen::Vector3d mNormal;

  RayHit();
};

struct RaycastResult
{
  void clear();

  bool hasHit() const;

  std::vector<RayHit> mRayHits;

  RaycastResult();
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_RAYCASTRESULT_HPP_