broadphase_callbacks.h
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34 
37 #ifndef HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
38 #define HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
39 
40 #include "hpp/fcl/fwd.hh"
41 #include "hpp/fcl/data_types.h"
42 
43 namespace hpp {
44 namespace fcl {
45 
50 struct HPP_FCL_DLLAPI CollisionCallBackBase {
53  virtual void init(){};
54 
61  virtual bool collide(CollisionObject* o1, CollisionObject* o2) = 0;
62 
64  virtual bool operator()(CollisionObject* o1, CollisionObject* o2) {
65  return collide(o1, o2);
66  }
67 };
68 
73 struct HPP_FCL_DLLAPI DistanceCallBackBase {
76  virtual void init(){};
77 
85  virtual bool distance(CollisionObject* o1, CollisionObject* o2,
86  FCL_REAL& dist) = 0;
87 
90  FCL_REAL& dist) {
91  return distance(o1, o2, dist);
92  }
93 };
94 
95 } // namespace fcl
96 } // namespace hpp
97 
98 #endif // HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
virtual void init()
Initialization of the callback before running the collision broadphase manager.
virtual bool operator()(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist)
Functor call associated to the distance operation.
Main namespace.
Base callback class for collision queries. This class can be supersed by child classes to provide des...
virtual void init()
Initialization of the callback before running the collision broadphase manager.
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS.cpp:181
double FCL_REAL
Definition: data_types.h:65
virtual bool operator()(CollisionObject *o1, CollisionObject *o2)
Functor call associated to the collide operation.
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
the object for collision or distance computation, contains the geometry and the transform information...
Base callback class for distance queries. This class can be supersed by child classes to provide desi...


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:00