Improve collision detection API for binary check

dart/collision/CollisionDetector.hpp

@@ -98,15 +98,22 @@ class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
   std::shared_ptr<CollisionGroup> createCollisionGroupAsSharedPtr(
       const Args&... args);
 
-  /// Perform collision detection for group.
+  /// Perform collision check for a single group. If nullptr is passed to
+  /// result, then the this returns only simple information whether there is a
+  /// collision of not.
   virtual bool collide(
       CollisionGroup* group,
-      const CollisionOption& option, CollisionResult& result) = 0;
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) = 0;
 
-  /// Perform collision detection for group1-group2.
+  /// Perform collision check for two groups. If nullptr is passed to
+  /// result, then the this returns only simple information whether there is a
+  /// collision of not.
   virtual bool collide(
-      CollisionGroup* group1, CollisionGroup* group2,
-      const CollisionOption& option, CollisionResult& result) = 0;
+      CollisionGroup* group1,
+      CollisionGroup* group2,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) = 0;
 
 protected:
 

dart/collision/CollisionGroup.cpp

@@ -166,14 +166,17 @@ const dynamics::ShapeFrame* CollisionGroup::getShapeFrame(
 }
 
 //==============================================================================
-bool CollisionGroup::collide(const CollisionOption& option, CollisionResult& result)
+bool CollisionGroup::collide(
+    const CollisionOption& option, CollisionResult* result)
 {
   return mCollisionDetector->collide(this, option, result);
 }
 
 //==============================================================================
 bool CollisionGroup::collide(
-    CollisionGroup* other, const CollisionOption& option, CollisionResult& result)
+    CollisionGroup* other,
+    const CollisionOption& option,
+    CollisionResult* result)
 {
   return mCollisionDetector->collide(this, other, option, result);
 }

dart/collision/CollisionGroup.hpp

@@ -171,15 +171,19 @@ class CollisionGroup
   /// Get the ShapeFrame corresponding to the given index
   const dynamics::ShapeFrame* getShapeFrame(std::size_t index) const;
 
-  /// Perform collision detection within this CollisionGroup.
-  bool collide(const CollisionOption& option, CollisionResult& result);
+  /// Perform collision check within this CollisionGroup.
+  bool collide(
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr);
 
-  /// Perform collision detection with other CollisionGroup.
+  /// Perform collision check with other CollisionGroup.
   ///
   /// Return false if the engine type of the other CollisionGroup is different
   /// from this CollisionObject engine.
-  bool collide(CollisionGroup* group,
-               const CollisionOption& option, CollisionResult& result);
+  bool collide(
+      CollisionGroup* group,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr);
 
 protected:
 

dart/collision/Option.cpp

@@ -42,11 +42,9 @@ namespace collision {
 //==============================================================================
 CollisionOption::CollisionOption(
     bool enableContact,
-    bool binaryCheck,
     std::size_t maxNumContacts,
     const std::shared_ptr<CollisionFilter>& collisionFilter)
   : enableContact(enableContact),
-    binaryCheck(binaryCheck),
     maxNumContacts(maxNumContacts),
     collisionFilter(collisionFilter)
 {

dart/collision/Option.hpp

@@ -47,26 +47,27 @@ class CollisionFilter;
 
 struct CollisionOption
 {
-  /// Flag whether compute contact information such as point, normal, and
-  /// penetration depth. If this flag is set to false, the Engine returns only
-  /// simple information whether there is a collision of not.
-  bool enableContact;
 
-  /// If true, the collision checking will terminate as soon as the first
-  /// contact is found.
-  bool binaryCheck;
+  /// 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
+  /// 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,
-         bool binaryCheck = false,
-         std::size_t maxNumContacts = 100,
-         const std::shared_ptr<CollisionFilter>& collisionFilter = nullptr);
+  CollisionOption(
+      bool enableContact = true,
+      std::size_t maxNumContacts = 1000u,
+      const std::shared_ptr<CollisionFilter>& collisionFilter = nullptr);
+
 };
 
 }  // namespace collision