Choreonoid  1.5
CollisionLinkPair.h
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1 
6 #ifndef CNOID_BODY_COLLISION_LINK_PAIR_H
7 #define CNOID_BODY_COLLISION_LINK_PAIR_H
8 
9 #include "Body.h"
10 #include <cnoid/CollisionDetector>
11 
12 namespace cnoid {
13 
15 {
17  link[0] = 0;
18  link[1] = 0;
19  }
20 
21  CollisionLinkPair(Body* body1, Link* link1, Body* body2, Link* link2, const CollisionPair& collisionPair){
22  body[0] = body1;
23  body[1] = body2;
24  link[0] = link1;
25  link[1] = link2;
26  collisions = collisionPair.collisions;
27  }
28 
29  bool isSelfCollision() const {
30  return (body[0] == body[1]);
31  }
32 
34  Link* link[2];
35  std::vector<Collision> collisions;
36 };
37 
38 typedef boost::shared_ptr<CollisionLinkPair> CollisionLinkPairPtr;
39 
40 }
41 
42 #endif
Definition: CollisionLinkPair.h:14
Definition: Body.h:28
Link * link[2]
Definition: CollisionLinkPair.h:34
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
CollisionLinkPair()
Definition: CollisionLinkPair.h:16
std::vector< Collision > collisions
Definition: CollisionLinkPair.h:35
boost::shared_ptr< CollisionLinkPair > CollisionLinkPairPtr
Definition: CollisionLinkPair.h:38
bool isSelfCollision() const
Definition: CollisionLinkPair.h:29
CollisionLinkPair(Body *body1, Link *link1, Body *body2, Link *link2, const CollisionPair &collisionPair)
Definition: CollisionLinkPair.h:21
CollisionArray collisions
Definition: CollisionDetector.h:19
BodyPtr body[2]
Definition: CollisionLinkPair.h:33
Definition: CollisionDetector.h:17