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37 #ifndef FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
38 #define FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
90 assert(data !=
nullptr);
95 if(collision_data->done)
return true;
97 collide(o1, o2, request, result);
100 result.
numContacts() >= request.num_max_contacts) {
101 collision_data->done =
true;
104 return collision_data->done;
112 template <
typename S>
144 template <
typename S>
148 assert(data !=
nullptr);
151 if (cdata->done)
return true;
155 collide(o1, o2, request, result);
164 template <
typename S>
195 template <
typename S>
197 void* data, S& dist) {
198 assert(data !=
nullptr);
212 if (dist <= 0)
return true;
219 #endif // FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H
request to the distance computation
Collision data for use with the DefaultCollisionFunction. It stores the collision request and the res...
bool done
If true, requests that the broadphase evaluation stop.
bool DefaultDistanceFunction(CollisionObject< S > *o1, CollisionObject< S > *o2, void *data, S &dist)
Provides a simple callback for the distance query in the BroadPhaseCollisionManager....
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.
Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request a...
bool isCollision() const
return binary collision result
bool DefaultContinuousCollisionFunction(ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *data)
Provides a simple callback for the continuous collision query in the BroadPhaseCollisionManager....
the object for continuous collision or distance computation, contains the geometry and the motion inf...
DistanceRequest< S > request
ContinuousCollisionResult< S > result
ContinuousCollisionRequest< S > request
DistanceResult< S > result
bool done
If true, requests that the broadphase evaluation stop.
Distance data for use with the DefaultDistanceFunction. It stores the distance request and the result...
Parameters for performing collision request.
size_t numContacts() const
number of contacts found
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
S min_distance
Minimum distance between two objects.
bool done
If true, requests that the broadphase evaluation stop.
continuous collision result
CollisionResult< S > result
bool DefaultCollisionFunction(CollisionObject< S > *o1, CollisionObject< S > *o2, void *data)
Provides a simple callback for the collision query in the BroadPhaseCollisionManager....
the object for collision or distance computation, contains the geometry and the transform information
CollisionRequest< S > request
fcl
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autogenerated on Tue Dec 5 2023 03:40:48