hpp-fcl  2.4.0
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 };
68 
71 struct DistanceData {
72  DistanceData() { done = false; }
73 
76 
79 
81  bool done;
82 };
83 
107  void* data);
108 
113 // struct DefaultContinuousCollisionData {
114 // ContinuousCollisionRequest request;
115 // ContinuousCollisionResult result;
116 //
117 // /// If `true`, requests that the broadphase evaluation stop.
118 // bool done{false};
119 // };
120 
143 // bool DefaultContinuousCollisionFunction(ContinuousCollisionObject* o1,
144 // ContinuousCollisionObject* o2,
145 // void* data) {
146 // assert(data != nullptr);
147 // auto* cdata = static_cast<DefaultContinuousCollisionData*>(data);
148 //
149 // if (cdata->done) return true;
150 //
151 // const ContinuousCollisionRequest& request = cdata->request;
152 // ContinuousCollisionResult& result = cdata->result;
153 // collide(o1, o2, request, result);
154 //
155 // return cdata->done;
156 // }
157 
181  void* data, FCL_REAL& dist);
182 
187 
189 
191 };
192 
197 
199 
201 };
202 
205  typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair;
206 
208  CollisionCallBackCollect(const size_t max_size);
209 
211 
213  size_t numCollisionPairs() const;
214 
216  const std::vector<CollisionPair>& getCollisionPairs() const;
217 
219  void init();
220 
222  bool exist(const CollisionPair& pair) const;
223 
225 
226  protected:
227  std::vector<CollisionPair> collision_pairs;
228  size_t max_size;
229 };
230 
231 } // namespace fcl
232 
233 } // namespace hpp
234 
235 #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:64
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:204
std::vector< CollisionPair > collision_pairs
Definition: default_broadphase_callbacks.h:224
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:224
std::pair< CollisionObject *, CollisionObject * > CollisionPair
Definition: default_broadphase_callbacks.h:205
size_t max_size
Definition: default_broadphase_callbacks.h:228
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.
const std::vector< CollisionPair > & getCollisionPairs() const
Returns a const reference to the active collision_pairs to check.
CollisionCallBackCollect(const size_t max_size)
Default constructor.
Default collision callback to check collision between collision objects.
Definition: default_broadphase_callbacks.h:185
virtual ~CollisionCallBackDefault()
Definition: default_broadphase_callbacks.h:190
bool collide(CollisionObject *o1, CollisionObject *o2)
Collision evaluation between two objects in collision. This callback will cause the broadphase evalua...
CollisionData data
Definition: default_broadphase_callbacks.h:188
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
CollisionData()
Definition: default_broadphase_callbacks.h:57
request to the collision algorithm
Definition: collision_data.h:235
collision result
Definition: collision_data.h:302
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:195
virtual ~DistanceCallBackDefault()
Definition: default_broadphase_callbacks.h:200
DistanceData data
Definition: default_broadphase_callbacks.h:198
bool distance(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist)
Distance evaluation between two objects in collision. This callback will cause the broadphase evaluat...
Distance data stores the distance request and the result given by distance algorithm.
Definition: default_broadphase_callbacks.h:71
DistanceData()
Definition: default_broadphase_callbacks.h:72
DistanceResult result
Distance result.
Definition: default_broadphase_callbacks.h:78
bool done
Whether the distance iteration can stop.
Definition: default_broadphase_callbacks.h:81
DistanceRequest request
Distance request.
Definition: default_broadphase_callbacks.h:75
request to the distance computation
Definition: collision_data.h:392
distance result
Definition: collision_data.h:420