.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_default_broadphase_callbacks.h:

Program Listing for File default_broadphase_callbacks.h
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_default_broadphase_callbacks.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/default_broadphase_callbacks.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2020, Toyota Research Institute
    *  Copyright (c) 2022, INRIA
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
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    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
   #define HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
   
   #include "hpp/fcl/broadphase/broadphase_callbacks.h"
   #include "hpp/fcl/collision.h"
   #include "hpp/fcl/distance.h"
   // #include "hpp/fcl/narrowphase/continuous_collision.h"
   // #include "hpp/fcl/narrowphase/continuous_collision_request.h"
   // #include "hpp/fcl/narrowphase/continuous_collision_result.h"
   // #include "hpp/fcl/narrowphase/distance_request.h"
   // #include "hpp/fcl/narrowphase/distance_result.h"
   
   namespace hpp {
   namespace fcl {
   
   struct CollisionData {
     CollisionData() { done = false; }
   
     CollisionRequest request;
   
     CollisionResult result;
   
     bool done;
   
     void clear() {
       result.clear();
       done = false;
     }
   };
   
   struct DistanceData {
     DistanceData() { done = false; }
   
     DistanceRequest request;
   
     DistanceResult result;
   
     bool done;
   
     void clear() {
       result.clear();
       done = false;
     }
   };
   
   bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2,
                                 void* data);
   
   // struct DefaultContinuousCollisionData {
   //   ContinuousCollisionRequest request;
   //   ContinuousCollisionResult result;
   //
   //   /// If `true`, requests that the broadphase evaluation stop.
   //   bool done{false};
   // };
   
   // bool DefaultContinuousCollisionFunction(ContinuousCollisionObject* o1,
   //                                         ContinuousCollisionObject* o2,
   //                                         void* data) {
   //   assert(data != nullptr);
   //   auto* cdata = static_cast<DefaultContinuousCollisionData*>(data);
   //
   //   if (cdata->done) return true;
   //
   //   const ContinuousCollisionRequest& request = cdata->request;
   //   ContinuousCollisionResult& result = cdata->result;
   //   collide(o1, o2, request, result);
   //
   //   return cdata->done;
   // }
   
   bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2,
                                void* data, FCL_REAL& dist);
   
   struct HPP_FCL_DLLAPI CollisionCallBackDefault : CollisionCallBackBase {
     void init() { data.clear(); }
   
     bool collide(CollisionObject* o1, CollisionObject* o2);
   
     CollisionData data;
   
     virtual ~CollisionCallBackDefault(){};
   };
   
   struct HPP_FCL_DLLAPI DistanceCallBackDefault : DistanceCallBackBase {
     void init() { data.clear(); }
   
     bool distance(CollisionObject* o1, CollisionObject* o2, FCL_REAL& dist);
   
     DistanceData data;
   
     virtual ~DistanceCallBackDefault(){};
   };
   
   struct HPP_FCL_DLLAPI CollisionCallBackCollect : CollisionCallBackBase {
     typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair;
   
     CollisionCallBackCollect(const size_t max_size);
   
     bool collide(CollisionObject* o1, CollisionObject* o2);
   
     size_t numCollisionPairs() const;
   
     const std::vector<CollisionPair>& getCollisionPairs() const;
   
     void init();
   
     bool exist(const CollisionPair& pair) const;
   
     virtual ~CollisionCallBackCollect(){};
   
    protected:
     std::vector<CollisionPair> collision_pairs;
     size_t max_size;
   };
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif  // HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H