Program Listing for File broadphase_callbacks.h
↰ Return to documentation for file (/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/broadphase_callbacks.h
)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2022, INRIA
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
#define HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
#include "hpp/fcl/fwd.hh"
#include "hpp/fcl/data_types.h"
namespace hpp {
namespace fcl {
struct HPP_FCL_DLLAPI CollisionCallBackBase {
virtual void init(){};
virtual bool collide(CollisionObject* o1, CollisionObject* o2) = 0;
virtual bool operator()(CollisionObject* o1, CollisionObject* o2) {
return collide(o1, o2);
}
};
struct HPP_FCL_DLLAPI DistanceCallBackBase {
virtual void init(){};
virtual bool distance(CollisionObject* o1, CollisionObject* o2,
FCL_REAL& dist) = 0;
virtual bool operator()(CollisionObject* o1, CollisionObject* o2,
FCL_REAL& dist) {
return distance(o1, o2, dist);
}
};
} // namespace fcl
} // namespace hpp
#endif // HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H