broadphase_continuous_collision_manager.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
39 #define HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
40 
43 #include "hpp/fcl/narrowphase/continuous_collision_object.h"
44 
45 namespace hpp {
46 namespace fcl {
47 
50 template <typename S>
51 using ContinuousCollisionCallBack = bool (*)(ContinuousCollisionObject* o1,
52  ContinuousCollisionObject* o2,
53  void* cdata);
54 
57 template <typename S>
58 using ContinuousDistanceCallBack = bool (*)(ContinuousCollisionObject* o1,
59  ContinuousCollisionObject* o2,
60  S& dist);
61 
65 template <typename S>
67  public:
69 
71 
73  virtual void registerObjects(
74  const std::vector<ContinuousCollisionObject*>& other_objs);
75 
77  virtual void registerObject(ContinuousCollisionObject* obj) = 0;
78 
80  virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;
81 
83  virtual void setup() = 0;
84 
86  virtual void update() = 0;
87 
89  virtual void update(ContinuousCollisionObject* updated_obj);
90 
92  virtual void update(
93  const std::vector<ContinuousCollisionObject*>& updated_objs);
94 
96  virtual void clear() = 0;
97 
99  virtual void getObjects(
100  std::vector<ContinuousCollisionObject*>& objs) const = 0;
101 
104  virtual void collide(ContinuousCollisionObject* obj,
105  CollisionCallBackBase* callback) const = 0;
106 
109  virtual void distance(ContinuousCollisionObject* obj,
110  DistanceCallBackBase* callback) const = 0;
111 
114  virtual void collide(CollisionCallBackBase* callback) const = 0;
115 
118  virtual void distance(DistanceCallBackBase* callback) const = 0;
119 
121  virtual void collide(BroadPhaseContinuousCollisionManager* other_manager,
122  CollisionCallBackBase* callback) const = 0;
123 
125  virtual void distance(BroadPhaseContinuousCollisionManager* other_manager,
126  DistanceCallBackBase* callback) const = 0;
127 
129  virtual bool empty() const = 0;
130 
132  virtual size_t size() const = 0;
133 };
134 
139 
140 } // namespace fcl
141 
142 } // namespace hpp
143 
145 
146 #endif
Main namespace.
Base callback class for collision queries. This class can be supersed by child classes to provide des...
bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, S &dist) ContinuousDistanceCallBack
Callback for continuous distance between two objects, Return value is whether can stop now...
bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata) ContinuousCollisionCallBack
Callback for continuous collision between two objects. Return value is whether can stop now...
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
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.
Base class for broad phase continuous collision. It helps to accelerate the continuous collision/dist...
Base callback class for distance queries. This class can be supersed by child classes to provide desi...


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:00