hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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broadphase_continuous_collision_manager.h
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35
38#ifndef HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
39#define HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
40
43#include "hpp/fcl/narrowphase/continuous_collision_object.h"
44
45namespace hpp {
46namespace fcl {
47
50template <typename S>
51using ContinuousCollisionCallBack = bool (*)(ContinuousCollisionObject* o1,
52 ContinuousCollisionObject* o2,
53 void* cdata);
54
57template <typename S>
58using ContinuousDistanceCallBack = bool (*)(ContinuousCollisionObject* o1,
59 ContinuousCollisionObject* o2,
60 S& dist);
61
65template <typename S>
67 public:
69
71
73 virtual void registerObjects(
74 const std::vector<ContinuousCollisionObject*>& other_objs);
75
77 virtual void registerObject(ContinuousCollisionObject* obj) = 0;
78
80 virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;
81
83 virtual void setup() = 0;
84
86 virtual void update() = 0;
87
89 virtual void update(ContinuousCollisionObject* updated_obj);
90
92 virtual void update(
93 const std::vector<ContinuousCollisionObject*>& updated_objs);
94
96 virtual void clear() = 0;
97
99 virtual void getObjects(
100 std::vector<ContinuousCollisionObject*>& objs) const = 0;
101
104 virtual void collide(ContinuousCollisionObject* obj,
105 CollisionCallBackBase* callback) const = 0;
106
109 virtual void distance(ContinuousCollisionObject* obj,
110 DistanceCallBackBase* callback) const = 0;
111
114 virtual void collide(CollisionCallBackBase* callback) const = 0;
115
118 virtual void distance(DistanceCallBackBase* callback) const = 0;
119
122 CollisionCallBackBase* callback) const = 0;
123
126 DistanceCallBackBase* callback) const = 0;
127
129 virtual bool empty() const = 0;
130
132 virtual size_t size() const = 0;
133};
134
139
140} // namespace fcl
141
142} // namespace hpp
143
145
146#endif
Base class for broad phase continuous collision. It helps to accelerate the continuous collision/dist...
Definition: broadphase_continuous_collision_manager.h:66
virtual void distance(BroadPhaseContinuousCollisionManager *other_manager, DistanceCallBackBase *callback) const =0
perform distance test with objects belonging to another manager
virtual void collide(CollisionCallBackBase *callback) const =0
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
virtual void unregisterObject(ContinuousCollisionObject *obj)=0
remove one object from the manager
virtual void clear()=0
clear the manager
virtual void registerObject(ContinuousCollisionObject *obj)=0
add one object to the manager
virtual size_t size() const =0
the number of objects managed by the manager
virtual void getObjects(std::vector< ContinuousCollisionObject * > &objs) const =0
return the objects managed by the manager
virtual void setup()=0
initialize the manager, related with the specific type of manager
virtual void update()=0
update the condition of manager
virtual void collide(BroadPhaseContinuousCollisionManager *other_manager, CollisionCallBackBase *callback) const =0
perform collision test with objects belonging to another manager
virtual bool empty() const =0
whether the manager is empty
virtual void distance(ContinuousCollisionObject *obj, DistanceCallBackBase *callback) const =0
perform distance computation between one object and all the objects belonging to the manager
virtual void distance(DistanceCallBackBase *callback) const =0
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
virtual void collide(ContinuousCollisionObject *obj, CollisionCallBackBase *callback) const =0
perform collision test between one object and all the objects belonging to the manager
#define HPP_FCL_DLLAPI
Definition: config.hh:64
bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, S &dist) ContinuousDistanceCallBack
Callback for continuous distance between two objects, Return value is whether can stop now,...
Definition: broadphase_continuous_collision_manager.h:60
bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata) ContinuousCollisionCallBack
Callback for continuous collision between two objects. Return value is whether can stop now.
Definition: broadphase_continuous_collision_manager.h:53
Main namespace.
Definition: broadphase_bruteforce.h:44
Base callback class for collision queries. This class can be supersed by child classes to provide des...
Definition: broadphase_callbacks.h:50
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73