/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/PQP/PQPCollision.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: PQPCollision.h,v 1.6 2009/09/11 19:06:32 jweisz Exp $
//
//######################################################################

#ifndef _pqpcollision_h_
#define _pqpcollision_h_

#include <map>

#include "collisionInterface.h"

class Body;
class VCollide;

struct PQP_ContactResult;

class PQPCollision : public CollisionInterface
{
private:
        const static int MAXCOLLISIONS = 256;

        VCollide *mVc;
        std::map<const Body*, int> mIds;
        std::map<int, Body*> mBodies;

        inline int getId(const Body * body);
        inline Body* getBody(int id);
        bool getIdsFromList(const std::vector<Body*> *interestList, int **iList, int *iSize);

        void convertContactReport(PQP_ContactResult *pqpReport, ContactReport *report);

public:
        PQPCollision();
        ~PQPCollision();

        //adding and moving bodies
        virtual bool addBody(Body *body, bool ExpectEmpty = false);
        virtual void removeBody(Body *body);
        virtual void cloneBody(Body *clone, const Body *original);
        virtual void setBodyTransform(Body *body, const transf &t);

        //enable / disable collision
        virtual void activateBody(const Body *body, bool active);
        virtual void activatePair(const Body *body1, const Body *body2, bool active);
        virtual bool isActive(const Body *body1, const Body *body2 = NULL);

        //collision detection
        virtual int allCollisions(DetectionType type, CollisionReport *report, 
                                                          const std::vector<Body*> *interestList);

        //contact
        virtual int allContacts(CollisionReport *report, double threshold, 
                                                        const std::vector<Body*> *interestList);
        virtual int contact(ContactReport *report, double threshold, 
                                                const Body *body1, const Body *body2);

        //point-to-body and body-to-body distances
        virtual double pointToBodyDistance(const Body *body1, position point,
                                                                           position &closestPoint, vec3 &closestNormal);
        virtual double bodyToBodyDistance(const Body *body1, const Body *body2,
                                                                          position &p1, position &p2);

        //region on a body around a point
        virtual void bodyRegion(const Body *body, position point, vec3 normal, 
                                                        double radius, Neighborhood *neighborhood);

        //show bounding box hierarchy
        virtual void getBoundingVolumes(const Body* body, int depth, std::vector<BoundingBox> *bvs);

        //threading
        virtual void newThread();
};

int PQPCollision::getId(const Body *body)
{
        std::map<const Body*, int>::const_iterator it = mIds.find(body);
        if ( it == mIds.end() ) return -1;
        return it->second;
}

Body* PQPCollision::getBody(int id)
{
        std::map<int, Body*>::iterator it = mBodies.find(id);
        if ( it == mBodies.end() ) return NULL;
        return it->second;
}

#endif

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autogenerated on Wed Jan 25 10:58:52 2012