hpp-fcl 2.4.4
HPP fork of FCL -- The Flexible Collision Library
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default_broadphase_callbacks.h
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35
39#ifndef HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
40#define HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
41
43#include "hpp/fcl/collision.h"
44#include "hpp/fcl/distance.h"
45// #include "hpp/fcl/narrowphase/continuous_collision.h"
46// #include "hpp/fcl/narrowphase/continuous_collision_request.h"
47// #include "hpp/fcl/narrowphase/continuous_collision_result.h"
48// #include "hpp/fcl/narrowphase/distance_request.h"
49// #include "hpp/fcl/narrowphase/distance_result.h"
50
51namespace hpp {
52namespace fcl {
53
57 CollisionData() { done = false; }
58
61
64
66 bool done;
67
69 void clear() {
70 result.clear();
71 done = false;
72 }
73};
74
78 DistanceData() { done = false; }
79
82
85
87 bool done;
88
90 void clear() {
91 result.clear();
92 done = false;
93 }
94};
95
119 void* data);
120
125// struct DefaultContinuousCollisionData {
126// ContinuousCollisionRequest request;
127// ContinuousCollisionResult result;
128//
129// /// If `true`, requests that the broadphase evaluation stop.
130// bool done{false};
131// };
132
155// bool DefaultContinuousCollisionFunction(ContinuousCollisionObject* o1,
156// ContinuousCollisionObject* o2,
157// void* data) {
158// assert(data != nullptr);
159// auto* cdata = static_cast<DefaultContinuousCollisionData*>(data);
160//
161// if (cdata->done) return true;
162//
163// const ContinuousCollisionRequest& request = cdata->request;
164// ContinuousCollisionResult& result = cdata->result;
165// collide(o1, o2, request, result);
166//
167// return cdata->done;
168// }
169
193 void* data, FCL_REAL& dist);
194
200 void init() { data.clear(); }
201
203
205
207};
208
214 void init() { data.clear(); }
215
217
219
221};
222
225 typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair;
226
228 CollisionCallBackCollect(const size_t max_size);
229
231
233 size_t numCollisionPairs() const;
234
236 const std::vector<CollisionPair>& getCollisionPairs() const;
237
239 void init();
240
242 bool exist(const CollisionPair& pair) const;
243
245
246 protected:
247 std::vector<CollisionPair> collision_pairs;
248 size_t max_size;
249};
250
251} // namespace fcl
252
253} // namespace hpp
254
255#endif // HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
#define HPP_FCL_DLLAPI
Definition: config.hh:88
bool defaultCollisionFunction(CollisionObject *o1, CollisionObject *o2, void *data)
Provides a simple callback for the collision query in the BroadPhaseCollisionManager....
double FCL_REAL
Definition: data_types.h:65
bool defaultDistanceFunction(CollisionObject *o1, CollisionObject *o2, void *data, FCL_REAL &dist)
Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request a...
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
Collision callback to collect collision pairs potentially in contacts.
Definition: default_broadphase_callbacks.h:224
const std::vector< CollisionPair > & getCollisionPairs() const
Returns a const reference to the active collision_pairs to check.
std::vector< CollisionPair > collision_pairs
Definition: default_broadphase_callbacks.h:247
bool collide(CollisionObject *o1, CollisionObject *o2)
Collision evaluation between two objects in collision. This callback will cause the broadphase evalua...
virtual ~CollisionCallBackCollect()
Definition: default_broadphase_callbacks.h:244
std::pair< CollisionObject *, CollisionObject * > CollisionPair
Definition: default_broadphase_callbacks.h:225
size_t max_size
Definition: default_broadphase_callbacks.h:248
size_t numCollisionPairs() const
Returns the number of registered collision pairs.
bool exist(const CollisionPair &pair) const
Check wether a collision pair exists.
void init()
Reset the callback.
CollisionCallBackCollect(const size_t max_size)
Default constructor.
Default collision callback to check collision between collision objects.
Definition: default_broadphase_callbacks.h:197
virtual ~CollisionCallBackDefault()
Definition: default_broadphase_callbacks.h:206
bool collide(CollisionObject *o1, CollisionObject *o2)
Collision evaluation between two objects in collision. This callback will cause the broadphase evalua...
void init()
Initialize the callback. Clears the collision result and sets the done boolean to false.
Definition: default_broadphase_callbacks.h:200
CollisionData data
Definition: default_broadphase_callbacks.h:204
Collision data stores the collision request and the result given by collision algorithm.
Definition: default_broadphase_callbacks.h:56
CollisionResult result
Collision result.
Definition: default_broadphase_callbacks.h:63
CollisionRequest request
Collision request.
Definition: default_broadphase_callbacks.h:60
bool done
Whether the collision iteration can stop.
Definition: default_broadphase_callbacks.h:66
void clear()
Clears the CollisionData.
Definition: default_broadphase_callbacks.h:69
CollisionData()
Definition: default_broadphase_callbacks.h:57
request to the collision algorithm
Definition: collision_data.h:235
collision result
Definition: collision_data.h:302
void clear()
clear the results obtained
Definition: collision_data.h:377
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73
Default distance callback to check collision between collision objects.
Definition: default_broadphase_callbacks.h:211
virtual ~DistanceCallBackDefault()
Definition: default_broadphase_callbacks.h:220
DistanceData data
Definition: default_broadphase_callbacks.h:218
bool distance(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist)
Distance evaluation between two objects in collision. This callback will cause the broadphase evaluat...
void init()
Initialize the callback. Clears the distance result and sets the done boolean to false.
Definition: default_broadphase_callbacks.h:214
Distance data stores the distance request and the result given by distance algorithm.
Definition: default_broadphase_callbacks.h:77
DistanceData()
Definition: default_broadphase_callbacks.h:78
DistanceResult result
Distance result.
Definition: default_broadphase_callbacks.h:84
void clear()
Clears the DistanceData.
Definition: default_broadphase_callbacks.h:90
bool done
Whether the distance iteration can stop.
Definition: default_broadphase_callbacks.h:87
DistanceRequest request
Distance request.
Definition: default_broadphase_callbacks.h:81
request to the distance computation
Definition: collision_data.h:392
distance result
Definition: collision_data.h:420
void clear()
clear the result
Definition: collision_data.h:504