GCC Code Coverage Report

Directory: ./
File: include/coal/broadphase/broadphase_collision_manager.h
Date: 2025-04-13 14:25:19
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2016, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
36 /** @author Jia Pan */
37
38 #ifndef COAL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
39 #define COAL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
40
41 #include <set>
42 #include <vector>
43 #include <boost/function.hpp>
44
45 #include "coal/collision_object.h"
46 #include "coal/broadphase/broadphase_callbacks.h"
47
48 namespace coal {
49
50 /// @brief Base class for broad phase collision. It helps to accelerate the
51 /// collision/distance between N objects. Also support self collision, self
52 /// distance and collision/distance with another M objects.
53 class COAL_DLLAPI BroadPhaseCollisionManager {
54 public:
55 BroadPhaseCollisionManager();
56
57 virtual ~BroadPhaseCollisionManager();
58
59 /// @brief add objects to the manager
60 virtual void registerObjects(const std::vector<CollisionObject*>& other_objs);
61
62 /// @brief add one object to the manager
63 virtual void registerObject(CollisionObject* obj) = 0;
64
65 /// @brief remove one object from the manager
66 virtual void unregisterObject(CollisionObject* obj) = 0;
67
68 /// @brief initialize the manager, related with the specific type of manager
69 virtual void setup() = 0;
70
71 /// @brief update the condition of manager
72 virtual void update() = 0;
73
74 /// @brief update the manager by explicitly given the object updated
75 virtual void update(CollisionObject* updated_obj);
76
77 /// @brief update the manager by explicitly given the set of objects update
78 virtual void update(const std::vector<CollisionObject*>& updated_objs);
79
80 /// @brief clear the manager
81 virtual void clear() = 0;
82
83 /// @brief return the objects managed by the manager
84 virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;
85
86 /// @brief return the objects managed by the manager
87 ✗ virtual std::vector<CollisionObject*> getObjects() const {
88 ✗ std::vector<CollisionObject*> res(size());
89 ✗ getObjects(res);
90 ✗ return res;
91 ✗ };
92
93 /// @brief perform collision test between one object and all the objects
94 /// belonging to the manager
95 virtual void collide(CollisionObject* obj,
96 CollisionCallBackBase* callback) const = 0;
97
98 /// @brief perform distance computation between one object and all the objects
99 /// belonging to the manager
100 virtual void distance(CollisionObject* obj,
101 DistanceCallBackBase* callback) const = 0;
102
103 /// @brief perform collision test for the objects belonging to the manager
104 /// (i.e., N^2 self collision)
105 virtual void collide(CollisionCallBackBase* callback) const = 0;
106
107 /// @brief perform distance test for the objects belonging to the manager
108 /// (i.e., N^2 self distance)
109 virtual void distance(DistanceCallBackBase* callback) const = 0;
110
111 /// @brief perform collision test with objects belonging to another manager
112 virtual void collide(BroadPhaseCollisionManager* other_manager,
113 CollisionCallBackBase* callback) const = 0;
114
115 /// @brief perform distance test with objects belonging to another manager
116 virtual void distance(BroadPhaseCollisionManager* other_manager,
117 DistanceCallBackBase* callback) const = 0;
118
119 /// @brief whether the manager is empty
120 virtual bool empty() const = 0;
121
122 /// @brief the number of objects managed by the manager
123 virtual size_t size() const = 0;
124
125 protected:
126 /// @brief tools help to avoid repeating collision or distance callback for
127 /// the pairs of objects tested before. It can be useful for some of the
128 /// broadphase algorithms.
129 mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
130 mutable bool enable_tested_set_;
131
132 bool inTestedSet(CollisionObject* a, CollisionObject* b) const;
133
134 void insertTestedSet(CollisionObject* a, CollisionObject* b) const;
135 };
136
137 } // namespace coal
138
139 #endif
140