/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/collisionInterface.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: collisionInterface.h,v 1.9 2009/09/11 19:06:32 jweisz Exp $
//
//######################################################################

#ifndef _collisioninterface_h_
#define _collisioninterface_h_

#include "collisionStructures.h"

#include <QMutex>
#include <QThreadStorage>

class BoundingBox;

class CollisionInterface
{
public:

        static const int CONTACT_DUPLICATE_THRESHOLD;
protected:
        // The following two functions are needed for all collision detectors, so they have
        // been implemented at this level.
        void compactContactSet(ContactReport *contacts);


        void removeContactDuplicates(ContactReport *contacts, double duplicateThreshold);
        static QMutex mMutex;
private:

        QThreadStorage<int*> mThreadIdStorage;
        static int mNextThreadId;
        void replaceContactSetWithPerimeter(ContactReport &contactSet);
public:
        CollisionInterface();
        virtual ~CollisionInterface(){}
        enum DetectionType{FAST_COLLISION, ALL_COLLISIONS};

        virtual bool addBody(Body *body, bool ExpectEmpty = false) = 0;
        virtual void removeBody(Body *body) = 0;
        virtual void cloneBody(Body *clone, const Body *original) = 0;
        virtual void setBodyTransform(Body *body, const transf &t) = 0;


        virtual void activateBody(const Body *body, bool active) = 0;
        virtual void activatePair(const Body *body1, const Body *body2, bool active) = 0;

        virtual bool isActive(const Body *body1, const Body *body2 = NULL) = 0;

        virtual int allCollisions(DetectionType type, CollisionReport *report, 
                                                          const std::vector<Body*> *interestList) = 0;

        virtual int allContacts(CollisionReport *report, double threshold, 
                                                        const std::vector<Body*> *interestList) = 0;
        virtual int contact(ContactReport *report, double threshold, 
                                                const Body *body1, const Body *body2) = 0;

        virtual double pointToBodyDistance(const Body *body1, position point,
                                                                           position &closestPoint, vec3 &closestNormal) = 0;
        virtual double bodyToBodyDistance(const Body *body1, const Body *body2,
                                                                          position &p1, position &p2) = 0;

        virtual void bodyRegion(const Body *body, position point, vec3 normal, 
                                                        double radius, Neighborhood *neighborhood)=0;

        virtual void getBoundingVolumes(const Body*, int, std::vector<BoundingBox>*){}

        virtual void newThread();
        virtual int getThreadId();
};

#endif

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autogenerated on Wed Jan 25 10:58:52 2012