GCC Code Coverage Report

Line	Exec	Source
1		/*
2		* Software License Agreement (BSD License)
3		*
4		* Copyright (c) 2022, INRIA
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
35		/** @author Justin Carpentier (justin.carpentier@inria.fr) */
36
37		#ifndef COAL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
38		#define COAL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
39
40		#include "coal/fwd.hh"
41		#include "coal/data_types.h"
42
43		namespace coal {
44
45		/// @brief Base callback class for collision queries.
46		/// This class can be supersed by child classes to provide desired behaviors
47		/// according to the application (e.g, only listing the potential
48		/// CollisionObjects in collision).
49		struct COAL_DLLAPI CollisionCallBackBase {
50		/// @brief Initialization of the callback before running the collision
51		/// broadphase manager.
52	8	virtual void init() {};
53
54		/// @brief Collision evaluation between two objects in collision.
55		/// This callback will cause the broadphase evaluation to stop if it
56		/// returns true.
57		///
58		/// @param[in] o1 Collision object #1.
59		/// @param[in] o2 Collision object #2.
60		virtual bool collide(CollisionObject* o1, CollisionObject* o2) = 0;
61
62		/// @brief Functor call associated to the collide operation.
63	1222323	virtual bool operator()(CollisionObject* o1, CollisionObject* o2) {
64	1222323	return collide(o1, o2);
65		}
66		};
67
68		/// @brief Base callback class for distance queries.
69		/// This class can be supersed by child classes to provide desired behaviors
70		/// according to the application (e.g, only listing the potential
71		/// CollisionObjects in collision).
72		struct COAL_DLLAPI DistanceCallBackBase {
73		/// @brief Initialization of the callback before running the collision
74		/// broadphase manager.
75	8	virtual void init() {};
76
77		/// @brief Distance evaluation between two objects in collision.
78		/// This callback will cause the broadphase evaluation to stop if it
79		/// returns true.
80		///
81		/// @param[in] o1 Collision object #1.
82		/// @param[in] o2 Collision object #2.
83		/// @param[out] dist Distance between the two collision geometries.
84		virtual bool distance(CollisionObject* o1, CollisionObject* o2,
85		Scalar& dist) = 0;
86
87		/// @brief Functor call associated to the distance operation.
88	33020	virtual bool operator()(CollisionObject* o1, CollisionObject* o2,
89		Scalar& dist) {
90	33020	return distance(o1, o2, dist);
91		}
92		};
93
94		} // namespace coal
95
96		#endif // COAL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
97