broadphase_continuous_collision_manager.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#define HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
 
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/collision_object.h"
#include "hpp/fcl/narrowphase/continuous_collision_object.h"
 
namespace hpp {
namespace fcl {
 
template <typename S>
using ContinuousCollisionCallBack = bool (*)(ContinuousCollisionObject* o1,
                                             ContinuousCollisionObject* o2,
                                             void* cdata);
 
template <typename S>
using ContinuousDistanceCallBack = bool (*)(ContinuousCollisionObject* o1,
                                            ContinuousCollisionObject* o2,
                                            S& dist);
 
template <typename S>
class HPP_FCL_DLLAPI BroadPhaseContinuousCollisionManager {
 public:
  BroadPhaseContinuousCollisionManager();
 
  virtual ~BroadPhaseContinuousCollisionManager();
 
  virtual void registerObjects(
      const std::vector<ContinuousCollisionObject*>& other_objs);
 
  virtual void registerObject(ContinuousCollisionObject* obj) = 0;
 
  virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;
 
  virtual void setup() = 0;
 
  virtual void update() = 0;
 
  virtual void update(ContinuousCollisionObject* updated_obj);
 
  virtual void update(
      const std::vector<ContinuousCollisionObject*>& updated_objs);
 
  virtual void clear() = 0;
 
  virtual void getObjects(
      std::vector<ContinuousCollisionObject*>& objs) const = 0;
 
  virtual void collide(ContinuousCollisionObject* obj,
                       CollisionCallBackBase* callback) const = 0;
 
  virtual void distance(ContinuousCollisionObject* obj,
                        DistanceCallBackBase* callback) const = 0;
 
  virtual void collide(CollisionCallBackBase* callback) const = 0;
 
  virtual void distance(DistanceCallBackBase* callback) const = 0;
 
  virtual void collide(BroadPhaseContinuousCollisionManager* other_manager,
                       CollisionCallBackBase* callback) const = 0;
 
  virtual void distance(BroadPhaseContinuousCollisionManager* other_manager,
                        DistanceCallBackBase* callback) const = 0;
 
  virtual bool empty() const = 0;
 
  virtual size_t size() const = 0;
};
 
using BroadPhaseContinuousCollisionManagerf =
    BroadPhaseContinuousCollisionManager<float>;
using BroadPhaseContinuousCollisionManagerd =
    BroadPhaseContinuousCollisionManager<FCL_REAL>;
 
}  // namespace fcl
 
}  // namespace hpp
 
#include "hpp/fcl/broadphase/broadphase_continuous_collision_manager-inl.h"
 
#endif