hpp-fcl  2.4.4
HPP fork of FCL -- The Flexible Collision Library
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 
51 namespace hpp {
52 namespace fcl {
53 
56 struct CollisionData {
57  CollisionData() { done = false; }
58 
61 
64 
66  bool done;
67 
69  void clear() {
70  result.clear();
71  done = false;
72  }
73 };
74 
77 struct DistanceData {
78  DistanceData() { done = false; }
79 
82 
85 
87  bool done;
88 
90  void clear() {
91  result.clear();
92  done = false;
93  }
94 };
95 
118 bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2,
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 
192 bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2,
193  void* data, FCL_REAL& dist);
194 
200  void init() { data.clear(); }
201 
202  bool collide(CollisionObject* o1, CollisionObject* o2);
203 
205 
207 };
208 
214  void init() { data.clear(); }
215 
216  bool distance(CollisionObject* o1, CollisionObject* o2, FCL_REAL& dist);
217 
219 
221 };
222 
225  typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair;
226 
228  CollisionCallBackCollect(const size_t max_size);
229 
230  bool collide(CollisionObject* o1, CollisionObject* o2);
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
DistanceData()
Definition: default_broadphase_callbacks.h:78
request to the distance computation
Definition: collision_data.h:392
Collision data stores the collision request and the result given by collision algorithm.
Definition: default_broadphase_callbacks.h:56
CollisionRequest request
Collision request.
Definition: default_broadphase_callbacks.h:60
bool done
Whether the distance iteration can stop.
Definition: default_broadphase_callbacks.h:87
Main namespace.
Definition: broadphase_bruteforce.h:44
collision result
Definition: collision_data.h:302
void init()
Initialize the callback. Clears the collision result and sets the done boolean to false...
Definition: default_broadphase_callbacks.h:200
Base callback class for collision queries. This class can be supersed by child classes to provide des...
Definition: broadphase_callbacks.h:50
DistanceResult result
Distance result.
Definition: default_broadphase_callbacks.h:84
void init()
Initialize the callback. Clears the distance result and sets the done boolean to false.
Definition: default_broadphase_callbacks.h:214
virtual ~CollisionCallBackCollect()
Definition: default_broadphase_callbacks.h:244
void clear()
clear the result
Definition: collision_data.h:504
DistanceData data
Definition: default_broadphase_callbacks.h:218
request to the collision algorithm
Definition: collision_data.h:235
void clear()
clear the results obtained
Definition: collision_data.h:377
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
double FCL_REAL
Definition: data_types.h:65
size_t max_size
Definition: default_broadphase_callbacks.h:248
DistanceRequest request
Distance request.
Definition: default_broadphase_callbacks.h:81
void clear()
Clears the CollisionData.
Definition: default_broadphase_callbacks.h:69
CollisionData data
Definition: default_broadphase_callbacks.h:204
Collision callback to collect collision pairs potentially in contacts.
Definition: default_broadphase_callbacks.h:224
Default collision callback to check collision between collision objects.
Definition: default_broadphase_callbacks.h:197
CollisionResult result
Collision result.
Definition: default_broadphase_callbacks.h:63
bool defaultDistanceFunction(CollisionObject *o1, CollisionObject *o2, void *data, FCL_REAL &dist)
Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request a...
virtual ~DistanceCallBackDefault()
Definition: default_broadphase_callbacks.h:220
CollisionData()
Definition: default_broadphase_callbacks.h:57
virtual ~CollisionCallBackDefault()
Definition: default_broadphase_callbacks.h:206
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
std::pair< CollisionObject *, CollisionObject * > CollisionPair
Definition: default_broadphase_callbacks.h:225
void clear()
Clears the DistanceData.
Definition: default_broadphase_callbacks.h:90
Default distance callback to check collision between collision objects.
Definition: default_broadphase_callbacks.h:211
bool done
Whether the collision iteration can stop.
Definition: default_broadphase_callbacks.h:66
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:215
bool defaultCollisionFunction(CollisionObject *o1, CollisionObject *o2, void *data)
Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of CollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data&#39;s CollisionResult instance.
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73
Distance data stores the distance request and the result given by distance algorithm.
Definition: default_broadphase_callbacks.h:77
#define HPP_FCL_DLLAPI
Definition: config.hh:88
distance result
Definition: collision_data.h:420