broadphase_collision_manager.h
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35 
38 #ifndef FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
39 #define FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
40 
41 #include <set>
42 #include <vector>
43 
45 
46 namespace fcl
47 {
48 
51 template <typename S>
52 using CollisionCallBack = bool (*)(
53  CollisionObject<S>* o1, CollisionObject<S>* o2, void* cdata);
54 
57 template <typename S>
58 using DistanceCallBack = bool (*)(
60  CollisionObject<S>* o2, void* cdata, S& dist);
61 
65 template <typename S>
67 {
68 public:
70 
71  virtual ~BroadPhaseCollisionManager();
72 
74  virtual void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
75 
77  virtual void registerObject(CollisionObject<S>* obj) = 0;
78 
80  virtual void unregisterObject(CollisionObject<S>* obj) = 0;
81 
83  virtual void setup() = 0;
84 
86  virtual void update() = 0;
87 
89  virtual void update(CollisionObject<S>* updated_obj);
90 
92  virtual void update(const std::vector<CollisionObject<S>*>& updated_objs);
93 
95  virtual void clear() = 0;
96 
98  virtual void getObjects(std::vector<CollisionObject<S>*>& objs) const = 0;
99 
101  virtual void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const = 0;
102 
104  virtual void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const = 0;
105 
107  virtual void collide(void* cdata, CollisionCallBack<S> callback) const = 0;
108 
110  virtual void distance(void* cdata, DistanceCallBack<S> callback) const = 0;
111 
113  virtual void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack<S> callback) const = 0;
114 
116  virtual void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack<S> callback) const = 0;
117 
119  virtual bool empty() const = 0;
120 
122  virtual size_t size() const = 0;
123 
124 protected:
125 
127  mutable std::set<std::pair<CollisionObject<S>*, CollisionObject<S>*> > tested_set;
128  mutable bool enable_tested_set_;
129 
130  bool inTestedSet(CollisionObject<S>* a, CollisionObject<S>* b) const;
131 
132  void insertTestedSet(CollisionObject<S>* a, CollisionObject<S>* b) const;
133 
134 };
135 
138 
139 } // namespace fcl
140 
142 
143 #endif
collision_object.h
fcl::BroadPhaseCollisionManager::tested_set
std::set< std::pair< CollisionObject< S > *, CollisionObject< S > * > > tested_set
tools help to avoid repeating collision or distance callback for the pairs of objects tested before....
Definition: broadphase_collision_manager.h:127
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
obj
CollisionObject< S > * obj
object
Definition: broadphase_SaP.h:164
fcl::DistanceCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata, S &dist) DistanceCallBack
Callback for distance between two objects, Return value is whether can stop now, also return the mini...
Definition: broadphase_collision_manager.h:60
broadphase_collision_manager-inl.h
fcl::CollisionCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now.
Definition: broadphase_collision_manager.h:53
fcl::collide
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:51
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::BroadPhaseCollisionManager::enable_tested_set_
bool enable_tested_set_
Definition: broadphase_collision_manager.h:128
fcl::BroadPhaseCollisionManager
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66


fcl
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autogenerated on Tue Jun 22 2021 07:27:49