Collision.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
#include <optional>
#include <string>
#include <vector>
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI Collision
{
  Collision() : body1("NONE"), body2("NONE") {}
  Collision(const std::string & b1,
            const std::string & b2,
            double i,
            double s,
            double d,
            const std::optional<std::vector<std::string>> & r1Joints = {},
            const std::optional<std::vector<std::string>> & r2Joints = {},
            bool r1JointsInactive = false,
            bool r2JointsInactive = false)
  : body1(b1), body2(b2), iDist(i), sDist(s), damping(d), r1Joints(r1Joints), r2Joints(r2Joints),
    r1JointsInactive(r1JointsInactive), r2JointsInactive(r2JointsInactive)
  {
  }
  std::string body1; 
  std::string body2; 
  double iDist; 
  double sDist; 
  double damping; 
  std::optional<std::vector<std::string>> r1Joints;
  std::optional<std::vector<std::string>>
      r2Joints; 
  bool r1JointsInactive = false; 
  bool r2JointsInactive = false; 
  inline bool isNone() { return body1 == "NONE" && body2 == "NONE"; }
 
  bool operator==(const Collision & rhs) const;
  bool operator!=(const Collision & rhs) const;
};
 
MC_RBDYN_DLLAPI std::ostream & operator<<(std::ostream & os, const Collision & c);
 
} // namespace mc_rbdyn