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 
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
std::vector< CollisionPair > collision_pairs
Definition: default_broadphase_callbacks.h:244
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.
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: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