collision.h

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#ifndef HPP_FCL_COLLISION_H
#define HPP_FCL_COLLISION_H
 
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/collision_func_matrix.h>
#include <hpp/fcl/timings.h>
 
namespace hpp {
namespace fcl {
 
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1,
                                   const CollisionObject* o2,
                                   const CollisionRequest& request,
                                   CollisionResult& result);
 
HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1,
                                   const Transform3f& tf1,
                                   const CollisionGeometry* o2,
                                   const Transform3f& tf2,
                                   const CollisionRequest& request,
                                   CollisionResult& result);
 
inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                           CollisionRequest& request, CollisionResult& result) {
  std::size_t res = collide(o1, o2, (const CollisionRequest&)request, result);
  request.updateGuess(result);
  return res;
}
 
inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                           const CollisionGeometry* o2, const Transform3f& tf2,
                           CollisionRequest& request, CollisionResult& result) {
  std::size_t res =
      collide(o1, tf1, o2, tf2, (const CollisionRequest&)request, result);
  request.updateGuess(result);
  return res;
}
 
class HPP_FCL_DLLAPI ComputeCollision {
 public:
  ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);
 
  std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
                         const CollisionRequest& request,
                         CollisionResult& result) const;
 
  inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
                                CollisionRequest& request,
                                CollisionResult& result) const {
    std::size_t res = operator()(tf1, tf2, (const CollisionRequest&)request,
                                 result);
    request.updateGuess(result);
    return res;
  }
 
  bool operator==(const ComputeCollision& other) const {
    return o1 == other.o1 && o2 == other.o2 && solver == other.solver;
  }
 
  bool operator!=(const ComputeCollision& other) const {
    return !(*this == other);
  }
 
  virtual ~ComputeCollision(){};
 
 protected:
  // These pointers are made mutable to let the derived classes to update
  // their values when updating the collision geometry (e.g. creating a new
  // one). This feature should be used carefully to avoid any mis usage (e.g,
  // changing the type of the collision geometry should be avoided).
  mutable const CollisionGeometry* o1;
  mutable const CollisionGeometry* o2;
 
  mutable GJKSolver solver;
 
  CollisionFunctionMatrix::CollisionFunc func;
  bool swap_geoms;
 
  virtual std::size_t run(const Transform3f& tf1, const Transform3f& tf2,
                          const CollisionRequest& request,
                          CollisionResult& result) const;
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
}  // namespace fcl
}  // namespace hpp
 
#endif