text: /*
   * Copyright (c) 2011-2019, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include <dart/dart.hpp>
  #include <pybind11/eigen.h>
  #include <pybind11/pybind11.h>
  #include <pybind11/stl.h>
  
  namespace py = pybind11;
  
  namespace dart {
  namespace python {
  
  void RaycastResult(py::module& m)
  {
    ::py::class_<dart::collision::RayHit>(m, "RayHit")
        .def(::py::init<>())
        .def_readwrite(
            "mCollisionObject", &dart::collision::RayHit::mCollisionObject)
        .def_readwrite("mNormal", &dart::collision::RayHit::mNormal)
        .def_readwrite("mPoint", &dart::collision::RayHit::mPoint)
        .def_readwrite("mFraction", &dart::collision::RayHit::mFraction);
  
    ::py::class_<dart::collision::RaycastResult>(m, "RaycastResult")
        .def(::py::init<>())
        .def(
            "clear", +[](dart::collision::RaycastResult* self) { self->clear(); })
        .def(
            "hasHit",
            +[](const dart::collision::RaycastResult* self) -> bool {
              return self->hasHit();
            })
        .def_readwrite("mRayHits", &dart::collision::RaycastResult::mRayHits);
  }
  
  } // namespace python
  } // namespace dart
  