Program Listing for File default_broadphase_callbacks.h
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#ifndef HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
#define HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
#include "hpp/fcl/broadphase/broadphase_callbacks.h"
#include "hpp/fcl/collision.h"
#include "hpp/fcl/distance.h"
// #include "hpp/fcl/narrowphase/continuous_collision.h"
// #include "hpp/fcl/narrowphase/continuous_collision_request.h"
// #include "hpp/fcl/narrowphase/continuous_collision_result.h"
// #include "hpp/fcl/narrowphase/distance_request.h"
// #include "hpp/fcl/narrowphase/distance_result.h"
namespace hpp {
namespace fcl {
struct CollisionData {
CollisionData() { done = false; }
CollisionRequest request;
CollisionResult result;
bool done;
void clear() {
result.clear();
done = false;
}
};
struct DistanceData {
DistanceData() { done = false; }
DistanceRequest request;
DistanceResult result;
bool done;
void clear() {
result.clear();
done = false;
}
};
bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2,
void* data);
// struct DefaultContinuousCollisionData {
// ContinuousCollisionRequest request;
// ContinuousCollisionResult result;
//
// /// If `true`, requests that the broadphase evaluation stop.
// bool done{false};
// };
// bool DefaultContinuousCollisionFunction(ContinuousCollisionObject* o1,
// ContinuousCollisionObject* o2,
// void* data) {
// assert(data != nullptr);
// auto* cdata = static_cast<DefaultContinuousCollisionData*>(data);
//
// if (cdata->done) return true;
//
// const ContinuousCollisionRequest& request = cdata->request;
// ContinuousCollisionResult& result = cdata->result;
// collide(o1, o2, request, result);
//
// return cdata->done;
// }
bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2,
void* data, FCL_REAL& dist);
struct HPP_FCL_DLLAPI CollisionCallBackDefault : CollisionCallBackBase {
void init() { data.clear(); }
bool collide(CollisionObject* o1, CollisionObject* o2);
CollisionData data;
virtual ~CollisionCallBackDefault(){};
};
struct HPP_FCL_DLLAPI DistanceCallBackDefault : DistanceCallBackBase {
void init() { data.clear(); }
bool distance(CollisionObject* o1, CollisionObject* o2, FCL_REAL& dist);
DistanceData data;
virtual ~DistanceCallBackDefault(){};
};
struct HPP_FCL_DLLAPI CollisionCallBackCollect : CollisionCallBackBase {
typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair;
CollisionCallBackCollect(const size_t max_size);
bool collide(CollisionObject* o1, CollisionObject* o2);
size_t numCollisionPairs() const;
const std::vector<CollisionPair>& getCollisionPairs() const;
void init();
bool exist(const CollisionPair& pair) const;
virtual ~CollisionCallBackCollect(){};
protected:
std::vector<CollisionPair> collision_pairs;
size_t max_size;
};
} // namespace fcl
} // namespace hpp
#endif // HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H