hpp-fcl 2.4.5
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
208
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