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|---|---|---|---|
| 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 | 1222338 | virtual bool operator()(CollisionObject* o1, CollisionObject* o2) { | |
| 64 | 1222338 | 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 | 33017 | virtual bool operator()(CollisionObject* o1, CollisionObject* o2, | |
| 89 | Scalar& dist) { | ||
| 90 | 33017 | return distance(o1, o2, dist); | |
| 91 | } | ||
| 92 | }; | ||
| 93 | |||
| 94 | } // namespace coal | ||
| 95 | |||
| 96 | #endif // COAL_BROADPHASE_BROAD_PHASE_CALLBACKS_H | ||
| 97 |