CollisionLinkPair.h

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#ifndef CNOID_BODY_COLLISION_LINK_PAIR_H
#define CNOID_BODY_COLLISION_LINK_PAIR_H
 
#include "Body.h"
#include <cnoid/CollisionDetector>
#include <memory>
 
namespace cnoid {
    
struct CollisionLinkPair
{
    CollisionLinkPair() {
        link[0] = 0;
        link[1] = 0;
    }
 
    CollisionLinkPair(Body* body1, Link* link1, Body* body2, Link* link2, const CollisionPair& collisionPair)
        : collisions(collisionPair.collisions())
    {
        body[0] = body1;
        body[1] = body2;
        link[0] = link1;
        link[1] = link2;
    }
 
    bool isSelfCollision() const {
        return (body[0] == body[1]);
    }
        
    BodyPtr body[2];
    Link* link[2];
    std::vector<Collision> collisions;
};
    
typedef std::shared_ptr<CollisionLinkPair> CollisionLinkPairPtr;
 
}
 
#endif