default_broadphase_callbacks.h

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#ifndef FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
#define FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H

#include "fcl/narrowphase/collision.h"
#include "fcl/narrowphase/collision_request.h"
#include "fcl/narrowphase/collision_result.h"
#include "fcl/narrowphase/continuous_collision.h"
#include "fcl/narrowphase/continuous_collision_request.h"
#include "fcl/narrowphase/continuous_collision_result.h"
#include "fcl/narrowphase/distance.h"
#include "fcl/narrowphase/distance_request.h"
#include "fcl/narrowphase/distance_result.h"

namespace fcl {

template <typename S>
struct DefaultCollisionData {
  CollisionRequest<S> request;
  CollisionResult<S> result;

  bool done{false};
};

template <typename S>
bool DefaultCollisionFunction(CollisionObject<S>* o1, CollisionObject<S>* o2,
                              void* data) {
  assert(data != nullptr);
  auto* collision_data = static_cast<DefaultCollisionData<S>*>(data);
  const CollisionRequest<S>& request = collision_data->request;
  CollisionResult<S>& result = collision_data->result;

  if(collision_data->done) return true;

  collide(o1, o2, request, result);

  if (!request.enable_cost && result.isCollision() &&
      result.numContacts() >= request.num_max_contacts) {
    collision_data->done = true;
  }

  return collision_data->done;
}


template <typename S>
struct DefaultContinuousCollisionData {
  ContinuousCollisionRequest<S> request;
  ContinuousCollisionResult<S> result;

  bool done{false};
};


template <typename S>
bool DefaultContinuousCollisionFunction(ContinuousCollisionObject<S>* o1,
                                        ContinuousCollisionObject<S>* o2,
                                        void* data) {
  assert(data != nullptr);
  auto* cdata = static_cast<DefaultContinuousCollisionData<S>*>(data);

  if (cdata->done) return true;

  const ContinuousCollisionRequest<S>& request = cdata->request;
  ContinuousCollisionResult<S>& result = cdata->result;
  collide(o1, o2, request, result);

  return cdata->done;
}

template <typename S>
struct DefaultDistanceData {
  DistanceRequest<S> request;
  DistanceResult<S> result;

  bool done{false};
};

template <typename S>
bool DefaultDistanceFunction(CollisionObject<S>* o1, CollisionObject<S>* o2,
                             void* data, S& dist) {
  assert(data != nullptr);
  auto* cdata = static_cast<DefaultDistanceData<S>*>(data);
  const DistanceRequest<S>& request = cdata->request;
  DistanceResult<S>& result = cdata->result;

  if (cdata->done) {
    dist = result.min_distance;
    return true;
  }

  distance(o1, o2, request, result);

  dist = result.min_distance;

  if (dist <= 0) return true;  // in collision or in touch

  return cdata->done;
}

}  // namespace fcl

#endif  // FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H