Struct CollisionCallBackBase

Defined in File broadphase_callbacks.h

Inheritance Relationships

Derived Types

public hpp::fcl::CollisionCallBackCollect (Struct CollisionCallBackCollect)
public hpp::fcl::CollisionCallBackDefault (Struct CollisionCallBackDefault)

Struct Documentation

struct CollisionCallBackBase

Base callback class for collision queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision).

Subclassed by hpp::fcl::CollisionCallBackCollect, hpp::fcl::CollisionCallBackDefault

Public Functions

inline virtual void init(): Initialization of the callback before running the collision broadphase manager.

virtual bool collide(CollisionObject *o1, CollisionObject *o2) = 0

Collision evaluation between two objects in collision. This callback will cause the broadphase evaluation to stop if it returns true.

Parameters:

o1 – [in] Collision object #1.
o2 – [in] Collision object #2.

inline virtual bool operator()(CollisionObject *o1, CollisionObject *o2): Functor call associated to the collide operation.