broadphase_continuous_collision_manager.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
39 #define FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
40 
44 
45 namespace fcl
46 {
47 
50 template <typename S>
51 using ContinuousCollisionCallBack = bool (*)(
52  ContinuousCollisionObject<S>* o1,
53  ContinuousCollisionObject<S>* o2, void* cdata);
54 
57 template <typename S>
58 using ContinuousDistanceCallBack = bool (*)(
60  ContinuousCollisionObject<S>* o2, void* cdata, S& dist);
61 
65 template <typename S>
67 {
68 public:
70 
72 
74  virtual void registerObjects(const std::vector<ContinuousCollisionObject<S>*>& other_objs);
75 
77  virtual void registerObject(ContinuousCollisionObject<S>* obj) = 0;
78 
80  virtual void unregisterObject(ContinuousCollisionObject<S>* obj) = 0;
81 
83  virtual void setup() = 0;
84 
86  virtual void update() = 0;
87 
89  virtual void update(ContinuousCollisionObject<S>* updated_obj);
90 
92  virtual void update(const std::vector<ContinuousCollisionObject<S>*>& updated_objs);
93 
95  virtual void clear() = 0;
96 
98  virtual void getObjects(std::vector<ContinuousCollisionObject<S>*>& objs) const = 0;
99 
101  virtual void collide(ContinuousCollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const = 0;
102 
104  virtual void distance(ContinuousCollisionObject<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(BroadPhaseContinuousCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const = 0;
114 
116  virtual void distance(BroadPhaseContinuousCollisionManager<S>* 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 
127 
128 } // namespace fcl
129 
131 
132 #endif
collision_object.h
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
broadphase_collision_manager.h
broadphase_continuous_collision_manager-inl.h
fcl::ContinuousCollisionCallBack
bool(*)(ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *cdata) ContinuousCollisionCallBack
Callback for continuous collision between two objects. Return value is whether can stop now.
Definition: broadphase_continuous_collision_manager.h:53
fcl::ContinuousCollisionObject
the object for continuous collision or distance computation, contains the geometry and the motion inf...
Definition: continuous_collision_object.h:51
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
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
continuous_collision_object.h
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::ContinuousDistanceCallBack
bool(*)(ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *cdata, S &dist) ContinuousDistanceCallBack
Callback for continuous distance between two objects, Return value is whether can stop now,...
Definition: broadphase_continuous_collision_manager.h:60
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::BroadPhaseContinuousCollisionManager
Base class for broad phase continuous collision. It helps to accelerate the continuous collision/dist...
Definition: broadphase_continuous_collision_manager.h:66


fcl
Author(s):
autogenerated on Tue Jun 22 2021 07:27:49