Verified Commit e70b703a authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: add disable_collision field to GeometryObject

parent f1613a60
......@@ -158,6 +158,9 @@ struct GeometryObject
/// \brief Absolute path to the mesh texture file.
std::string meshTexturePath;
/// \brief It true, no collision or distance check will be done between the Geometry and any other geometry
bool disable_collision;
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
......@@ -196,6 +199,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
, overrideMaterial(overrideMaterial)
, meshColor(meshColor)
, meshTexturePath(meshTexturePath)
, disable_collision(false)
{}
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
......@@ -235,6 +239,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
, overrideMaterial(overrideMaterial)
, meshColor(meshColor)
, meshTexturePath(meshTexturePath)
, disable_collision(false)
{}
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
......@@ -259,6 +264,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
overrideMaterial = other.overrideMaterial;
meshColor = other.meshColor;
meshTexturePath = other.meshTexturePath;
disable_collision = other.disable_collision;
return *this;
}
......
......@@ -54,13 +54,14 @@ namespace pinocchio
inline bool operator==(const GeometryObject & lhs, const GeometryObject & rhs)
{
return ( lhs.name == rhs.name
&& lhs.parentFrame == rhs.parentFrame
&& lhs.parentJoint == rhs.parentJoint
&& lhs.geometry == rhs.geometry
&& lhs.placement == rhs.placement
&& lhs.meshPath == rhs.meshPath
&& lhs.meshScale == rhs.meshScale
return ( lhs.name == rhs.name
&& lhs.parentFrame == rhs.parentFrame
&& lhs.parentJoint == rhs.parentJoint
&& lhs.geometry == rhs.geometry
&& lhs.placement == rhs.placement
&& lhs.meshPath == rhs.meshPath
&& lhs.meshScale == rhs.meshScale
&& lhs.disable_collision == rhs.disable_collision
);
}
......@@ -77,6 +78,7 @@ namespace pinocchio
<< "Position in parent frame: \t \n" << geom_object.placement << "\n"
<< "Absolute path to mesh file: \t \n" << geom_object.meshPath << "\n"
<< "Scale for transformation of the mesh: \t \n" << geom_object.meshScale.transpose() << "\n"
<< "Disable collision: \t \n" << geom_object.disable_collision << "\n"
<< std::endl;
return os;
}
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment