default_broadphase_callbacks.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2020, Toyota Research Institute
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the copyright holder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  */
34 
37 #ifndef FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
38 #define FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
39 
49 
50 namespace fcl {
51 
56 template <typename S>
60 
62  bool done{false};
63 };
64 
87 template <typename S>
89  void* data) {
90  assert(data != nullptr);
91  auto* collision_data = static_cast<DefaultCollisionData<S>*>(data);
92  const CollisionRequest<S>& request = collision_data->request;
93  CollisionResult<S>& result = collision_data->result;
94 
95  if(collision_data->done) return true;
96 
97  collide(o1, o2, request, result);
98 
99  if (!request.enable_cost && result.isCollision() &&
100  result.numContacts() >= request.num_max_contacts) {
101  collision_data->done = true;
102  }
103 
104  return collision_data->done;
105 }
106 
107 
112 template <typename S>
116 
118  bool done{false};
119 };
120 
121 
144 template <typename S>
147  void* data) {
148  assert(data != nullptr);
149  auto* cdata = static_cast<DefaultContinuousCollisionData<S>*>(data);
150 
151  if (cdata->done) return true;
152 
153  const ContinuousCollisionRequest<S>& request = cdata->request;
154  ContinuousCollisionResult<S>& result = cdata->result;
155  collide(o1, o2, request, result);
156 
157  return cdata->done;
158 }
159 
164 template <typename S>
168 
170  bool done{false};
171 };
172 
195 template <typename S>
197  void* data, S& dist) {
198  assert(data != nullptr);
199  auto* cdata = static_cast<DefaultDistanceData<S>*>(data);
200  const DistanceRequest<S>& request = cdata->request;
201  DistanceResult<S>& result = cdata->result;
202 
203  if (cdata->done) {
204  dist = result.min_distance;
205  return true;
206  }
207 
208  distance(o1, o2, request, result);
209 
210  dist = result.min_distance;
211 
212  if (dist <= 0) return true; // in collision or in touch
213 
214  return cdata->done;
215 }
216 
217 } // namespace fcl
218 
219 #endif // FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
fcl::DistanceRequest
request to the distance computation
Definition: distance_request.h:52
fcl::DefaultCollisionData
Collision data for use with the DefaultCollisionFunction. It stores the collision request and the res...
Definition: default_broadphase_callbacks.h:57
fcl::DefaultDistanceData::done
bool done
If true, requests that the broadphase evaluation stop.
Definition: default_broadphase_callbacks.h:170
distance_result.h
fcl::DefaultDistanceFunction
bool DefaultDistanceFunction(CollisionObject< S > *o1, CollisionObject< S > *o2, void *data, S &dist)
Provides a simple callback for the distance query in the BroadPhaseCollisionManager....
Definition: default_broadphase_callbacks.h:196
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
fcl::DefaultContinuousCollisionData
Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request a...
Definition: default_broadphase_callbacks.h:113
fcl::ContinuousCollisionRequest
Definition: continuous_collision_request.h:52
fcl::CollisionResult::isCollision
bool isCollision() const
return binary collision result
Definition: collision_result-inl.h:76
fcl::DefaultContinuousCollisionFunction
bool DefaultContinuousCollisionFunction(ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *data)
Provides a simple callback for the continuous collision query in the BroadPhaseCollisionManager....
Definition: default_broadphase_callbacks.h:145
fcl::ContinuousCollisionObject
the object for continuous collision or distance computation, contains the geometry and the motion inf...
Definition: continuous_collision_object.h:51
fcl::DefaultDistanceData::request
DistanceRequest< S > request
Definition: default_broadphase_callbacks.h:166
fcl::CollisionResult
collision result
Definition: collision_request.h:48
fcl::DistanceResult
distance result
Definition: distance_request.h:48
fcl::DefaultContinuousCollisionData::result
ContinuousCollisionResult< S > result
Definition: default_broadphase_callbacks.h:115
continuous_collision_result.h
fcl::DefaultContinuousCollisionData::request
ContinuousCollisionRequest< S > request
Definition: default_broadphase_callbacks.h:114
distance.h
fcl::DefaultDistanceData::result
DistanceResult< S > result
Definition: default_broadphase_callbacks.h:167
fcl::DefaultCollisionData::done
bool done
If true, requests that the broadphase evaluation stop.
Definition: default_broadphase_callbacks.h:62
fcl::DefaultDistanceData
Distance data for use with the DefaultDistanceFunction. It stores the distance request and the result...
Definition: default_broadphase_callbacks.h:165
fcl::CollisionRequest
Parameters for performing collision request.
Definition: collision_request.h:52
distance_request.h
fcl::CollisionResult::numContacts
size_t numContacts() const
number of contacts found
Definition: collision_result-inl.h:83
fcl::collide
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
continuous_collision.h
fcl::DistanceResult::min_distance
S min_distance
Minimum distance between two objects.
Definition: distance_result.h:64
continuous_collision_request.h
fcl::DefaultContinuousCollisionData::done
bool done
If true, requests that the broadphase evaluation stop.
Definition: default_broadphase_callbacks.h:118
collision_result.h
fcl::ContinuousCollisionResult
continuous collision result
Definition: continuous_collision_result.h:48
fcl::DefaultCollisionData::result
CollisionResult< S > result
Definition: default_broadphase_callbacks.h:59
collision_request.h
fcl::DefaultCollisionFunction
bool DefaultCollisionFunction(CollisionObject< S > *o1, CollisionObject< S > *o2, void *data)
Provides a simple callback for the collision query in the BroadPhaseCollisionManager....
Definition: default_broadphase_callbacks.h:88
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::DefaultCollisionData::request
CollisionRequest< S > request
Definition: default_broadphase_callbacks.h:58
collision.h


fcl
Author(s):
autogenerated on Tue Jun 22 2021 07:27:50