Holds settings and cached data for collision detectors. More...

#include <ProximityData.hpp>

Public Member Functions
	ProximityData ()
	Default constructor. More...

void	setCollisionQueryType (rw::proximity::CollisionDetector::QueryType qtype)
	Set the type of collision query. More...

rw::proximity::CollisionDetector::QueryType	getCollisionQueryType () const
	Get the collision query type. More...

Public Attributes
rw::proximity::CollisionDetector::QueryResult	_collisionData
	Detailed information about the collision. More...

rw::core::Ptr< ProximityCache >	_cache
	Cached data used by the collision detector to speed up consecutive queries.

Detailed Description

Holds settings and cached data for collision detectors.

The cache makes it possible for some algorithms to perform faster detections.

Constructor & Destructor Documentation

◆ ProximityData()

ProximityData ( )

inline

Default constructor.

By default, the collision detector returns on first contact with no detailed information about the collision.

Use setCollisionQueryType to change this behaviour.

Member Function Documentation

◆ getCollisionQueryType()

rw::proximity::CollisionDetector::QueryType getCollisionQueryType ( ) const

inline

Get the collision query type.

Returns: the query type.

See also: CollisionDetector::QueryType

◆ setCollisionQueryType()

void setCollisionQueryType ( rw::proximity::CollisionDetector::QueryType qtype )

inline

Set the type of collision query.

The detection can perform faster if it is allowed to return after detecting the first collision. Alternatively, it is possible to detect all collisions if required.

Parameters

qtype [in] the query type.