5 #ifndef CNOID_COLLISION_COLDET_MODEL_PAIR_H_INCLUDED
6 #define CNOID_COLLISION_COLDET_MODEL_PAIR_H_INCLUDED
11 #include <cnoid/Referenced>
31 return detectCollisionsSub(
true);
35 return collisionPairInserter.cdContact;
39 collisionPairInserter.cdContact.clear();
43 return !detectCollisionsSub(
false).empty();
46 double computeDistance(
double *point0,
double *point1);
52 double computeDistance(
int& out_triangle0,
double* out_point0,
int& out_triangle1,
double* out_point1);
54 bool detectIntersection();
58 tolerance_ = tolerance;
62 std::vector<collision_data>& detectCollisionsSub(
bool detectAllContacts);
63 bool detectMeshMeshCollisions(
bool detectAllContacts);
64 bool detectPlaneCylinderCollisions(
bool detectAllContacts);
std::vector< collision_data > & detectCollisions()
Definition: ColdetModelPair.h:30
boost::intrusive_ptr< ColdetModel > ColdetModelPtr
Definition: ColdetModel.h:221
void setTolerance(double tolerance)
Definition: ColdetModelPair.h:57
void clearCollisions()
Definition: ColdetModelPair.h:38
Definition: Referenced.h:21
std::vector< collision_data > & collisions()
Definition: ColdetModelPair.h:34
boost::intrusive_ptr< ColdetModelPair > ColdetModelPairPtr
Definition: ColdetModelPair.h:75
Definition: ColdetModel.h:22
Definition: ColdetModelPair.h:17
double tolerance() const
Definition: ColdetModelPair.h:56
Definition: EasyScanner.h:16
ColdetModel * model(int index)
Definition: ColdetModelPair.h:28
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
bool checkCollision()
Definition: ColdetModelPair.h:42
Definition: CollisionPairInserter.h:16