hpp-fcl  1.6.0
HPP fork of FCL -- The Flexible Collision Library
collision.h
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35 
39 #ifndef HPP_FCL_COLLISION_H
40 #define HPP_FCL_COLLISION_H
41 
42 #include <hpp/fcl/data_types.h>
44 #include <hpp/fcl/collision_data.h>
46 
47 namespace hpp
48 {
49 namespace fcl
50 {
51 
56 HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
57  const CollisionRequest& request, CollisionResult& result);
58 
60 HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
61  const CollisionGeometry* o2, const Transform3f& tf2,
62  const CollisionRequest& request, CollisionResult& result);
63 
67 inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
68  CollisionRequest& request, CollisionResult& result)
69 {
70  std::size_t res = collide(o1, o2, (const CollisionRequest&) request, result);
71  request.updateGuess (result);
72  return res;
73 }
74 
78 inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
79  const CollisionGeometry* o2, const Transform3f& tf2,
80  CollisionRequest& request, CollisionResult& result)
81 {
82  std::size_t res = collide(o1, tf1, o2, tf2,
83  (const CollisionRequest&) request, result);
84  request.updateGuess (result);
85  return res;
86 }
87 
96 public:
98 
99  std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
100  const CollisionRequest& request, CollisionResult& result)
101  {
102  bool cached = request.enable_cached_gjk_guess;
103  solver.enable_cached_guess = cached;
104  if (cached) {
105  solver.cached_guess = request.cached_gjk_guess;
106  solver.support_func_cached_guess = request.cached_support_func_guess;
107  }
108 
109  std::size_t res;
110  if (swap_geoms) {
111  res = func(o2, tf2, o1, tf1, &solver, request, result);
112  result.swapObjects();
113  } else {
114  res = func (o1, tf1, o2, tf2, &solver, request, result);
115  }
116 
117  if (cached) {
118  result.cached_gjk_guess = solver.cached_guess;
119  result.cached_support_func_guess = solver.support_func_cached_guess;
120  }
121  return res;
122  }
123 
124  inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
125  CollisionRequest& request, CollisionResult& result)
126  {
127  std::size_t res = operator()(tf1, tf2, (const CollisionRequest&) request, result);
128  request.updateGuess (result);
129  return res;
130  }
131 
132 private:
133  CollisionGeometry const *o1, *o2;
134  GJKSolver solver;
135 
137  bool swap_geoms;
138 };
139 
140 } // namespace fcl
141 } // namespace hpp
142 
143 #endif
support_func_guess_t cached_support_func_guess
the support function intial guess set by user
Definition: collision_data.h:149
Simple transform class used locally by InterpMotion.
Definition: transform.h:58
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:175
Main namespace.
Definition: AABB.h:43
collision result
Definition: collision_data.h:249
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:143
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
Definition: collision.h:99
std::size_t(* CollisionFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
the uniform call interface for collision: for collision, we need know
Definition: collision_func_matrix.h:61
request to the collision algorithm
Definition: collision_data.h:197
void updateGuess(const QueryResult &result)
Definition: collision_data.h:178
Definition: collision.h:95
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:146
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result)
Definition: collision.h:124
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.
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:172
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:50
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:157
The geometry for the object for collision or distance computation.
Definition: collision_object.h:63
void swapObjects()
reposition Contact objects when fcl inverts them during their construction.
#define HPP_FCL_DLLAPI
Definition: config.hh:64