/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
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 * The list of contributors can be found at:
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 *   without modification, are permitted provided that the following
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 *     notice, this list of conditions and the following disclaimer.
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#ifndef DART_COLLISION_COLLISIONOPTION_HPP_
#define DART_COLLISION_COLLISIONOPTION_HPP_

#include <cstddef>
#include <memory>

namespace dart {
namespace collision {

class CollisionFilter;

struct CollisionOption
{

  /// Flag whether the collision detector computes contact information (contact
  /// point, normal, and penetration depth). If it is set to false, only the
  /// result of that which pairs are colliding will be stored in the
  /// CollisionResult without the contact information.
  bool enableContact;

  /// Maximum number of contacts to detect. Once the contacts are found up to
  /// this number, the collision checking will terminate at that moment. Set
  /// this to 1 for binary check.
  std::size_t maxNumContacts;

  /// CollisionFilter
  std::shared_ptr<CollisionFilter> collisionFilter;

  /// Constructor
  CollisionOption(
      bool enableContact = true,
      std::size_t maxNumContacts = 1000u,
      const std::shared_ptr<CollisionFilter>& collisionFilter = nullptr);
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_COLLISIONOPTION_HPP_
