broadphase.hpp

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//
// Copyright (c) 2022 INRIA
//
 
#ifndef __pinocchio_collision_broadphase_hpp__
#define __pinocchio_collision_broadphase_hpp__
 
#include <hpp/fcl/broadphase/broadphase_collision_manager.h>
 
#include "pinocchio/multibody/fcl.hpp"
 
#include "pinocchio/algorithm/geometry.hpp"
 
#include "pinocchio/collision/broadphase-manager.hpp"
#include "pinocchio/collision/broadphase-callbacks.hpp"
 
namespace pinocchio
{
 
  template<typename BroadPhaseManagerDerived>
  bool computeCollisions(
    BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
    CollisionCallBackBase * callback)
  {
    PINOCCHIO_CHECK_INPUT_ARGUMENT(broadphase_manager.check(callback));
    broadphase_manager.collide(callback);
    callback->done();
    return callback->collision;
  }
 
  template<typename BroadPhaseManagerDerived>
  bool computeCollisions(
    BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
    const bool stopAtFirstCollision = false)
  {
    CollisionCallBackDefault callback(
      broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(),
      stopAtFirstCollision);
 
    return computeCollisions(broadphase_manager, &callback);
  }
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename BroadPhaseManagerDerived,
    typename ConfigVectorType>
  inline bool computeCollisions(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
    CollisionCallBackBase * callback,
    const Eigen::MatrixBase<ConfigVectorType> & q)
  {
    updateGeometryPlacements(
      model, data, broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(), q);
 
    broadphase_manager.update(false);
    return computeCollisions(broadphase_manager, &callback);
  }
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename BroadPhaseManagerDerived,
    typename ConfigVectorType>
  inline bool computeCollisions(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const bool stopAtFirstCollision = false)
  {
    updateGeometryPlacements(
      model, data, broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(), q);
 
    broadphase_manager.update(false);
 
    CollisionCallBackDefault callback(
      broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(),
      stopAtFirstCollision);
    return computeCollisions(broadphase_manager, &callback);
  }
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/collision/broadphase.hxx"
 
#endif // ifndef __pinocchio_collision_broadphase_hpp__