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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2016, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** @author Jia Pan */ |
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#ifndef COAL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H |
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#define COAL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H |
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#include <set> |
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#include <vector> |
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#include <boost/function.hpp> |
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#include "coal/collision_object.h" |
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#include "coal/broadphase/broadphase_callbacks.h" |
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namespace coal { |
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/// @brief Base class for broad phase collision. It helps to accelerate the |
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/// collision/distance between N objects. Also support self collision, self |
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/// distance and collision/distance with another M objects. |
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class COAL_DLLAPI BroadPhaseCollisionManager { |
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public: |
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BroadPhaseCollisionManager(); |
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virtual ~BroadPhaseCollisionManager(); |
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/// @brief add objects to the manager |
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virtual void registerObjects(const std::vector<CollisionObject*>& other_objs); |
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/// @brief add one object to the manager |
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virtual void registerObject(CollisionObject* obj) = 0; |
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/// @brief remove one object from the manager |
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virtual void unregisterObject(CollisionObject* obj) = 0; |
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/// @brief initialize the manager, related with the specific type of manager |
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virtual void setup() = 0; |
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/// @brief update the condition of manager |
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virtual void update() = 0; |
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/// @brief update the manager by explicitly given the object updated |
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virtual void update(CollisionObject* updated_obj); |
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/// @brief update the manager by explicitly given the set of objects update |
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virtual void update(const std::vector<CollisionObject*>& updated_objs); |
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/// @brief clear the manager |
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virtual void clear() = 0; |
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/// @brief return the objects managed by the manager |
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virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0; |
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/// @brief return the objects managed by the manager |
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virtual std::vector<CollisionObject*> getObjects() const { |
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std::vector<CollisionObject*> res(size()); |
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getObjects(res); |
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return res; |
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}; |
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/// @brief perform collision test between one object and all the objects |
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/// belonging to the manager |
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virtual void collide(CollisionObject* obj, |
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CollisionCallBackBase* callback) const = 0; |
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/// @brief perform distance computation between one object and all the objects |
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/// belonging to the manager |
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virtual void distance(CollisionObject* obj, |
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DistanceCallBackBase* callback) const = 0; |
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/// @brief perform collision test for the objects belonging to the manager |
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/// (i.e., N^2 self collision) |
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virtual void collide(CollisionCallBackBase* callback) const = 0; |
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/// @brief perform distance test for the objects belonging to the manager |
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/// (i.e., N^2 self distance) |
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virtual void distance(DistanceCallBackBase* callback) const = 0; |
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/// @brief perform collision test with objects belonging to another manager |
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virtual void collide(BroadPhaseCollisionManager* other_manager, |
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CollisionCallBackBase* callback) const = 0; |
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/// @brief perform distance test with objects belonging to another manager |
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virtual void distance(BroadPhaseCollisionManager* other_manager, |
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DistanceCallBackBase* callback) const = 0; |
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/// @brief whether the manager is empty |
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virtual bool empty() const = 0; |
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/// @brief the number of objects managed by the manager |
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virtual size_t size() const = 0; |
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protected: |
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/// @brief tools help to avoid repeating collision or distance callback for |
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/// the pairs of objects tested before. It can be useful for some of the |
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/// broadphase algorithms. |
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mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set; |
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mutable bool enable_tested_set_; |
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bool inTestedSet(CollisionObject* a, CollisionObject* b) const; |
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void insertTestedSet(CollisionObject* a, CollisionObject* b) const; |
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}; |
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} // namespace coal |
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#endif |
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