default_broadphase_callbacks.h

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#ifndef HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
#define HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H
 
#include "hpp/fcl/broadphase/broadphase_callbacks.h"
#include "hpp/fcl/collision.h"
#include "hpp/fcl/distance.h"
// #include "hpp/fcl/narrowphase/continuous_collision.h"
// #include "hpp/fcl/narrowphase/continuous_collision_request.h"
// #include "hpp/fcl/narrowphase/continuous_collision_result.h"
// #include "hpp/fcl/narrowphase/distance_request.h"
// #include "hpp/fcl/narrowphase/distance_result.h"
 
namespace hpp {
namespace fcl {
 
struct CollisionData {
  CollisionData() { done = false; }
 
  CollisionRequest request;
 
  CollisionResult result;
 
  bool done;
 
  void clear() {
    result.clear();
    done = false;
  }
};
 
struct DistanceData {
  DistanceData() { done = false; }
 
  DistanceRequest request;
 
  DistanceResult result;
 
  bool done;
 
  void clear() {
    result.clear();
    done = false;
  }
};
 
bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2,
                              void* data);
 
// struct DefaultContinuousCollisionData {
//   ContinuousCollisionRequest request;
//   ContinuousCollisionResult result;
//
//   /// If `true`, requests that the broadphase evaluation stop.
//   bool done{false};
// };
 
// bool DefaultContinuousCollisionFunction(ContinuousCollisionObject* o1,
//                                         ContinuousCollisionObject* o2,
//                                         void* data) {
//   assert(data != nullptr);
//   auto* cdata = static_cast<DefaultContinuousCollisionData*>(data);
//
//   if (cdata->done) return true;
//
//   const ContinuousCollisionRequest& request = cdata->request;
//   ContinuousCollisionResult& result = cdata->result;
//   collide(o1, o2, request, result);
//
//   return cdata->done;
// }
 
bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2,
                             void* data, FCL_REAL& dist);
 
struct HPP_FCL_DLLAPI CollisionCallBackDefault : CollisionCallBackBase {
  void init() { data.clear(); }
 
  bool collide(CollisionObject* o1, CollisionObject* o2);
 
  CollisionData data;
 
  virtual ~CollisionCallBackDefault() {};
};
 
struct HPP_FCL_DLLAPI DistanceCallBackDefault : DistanceCallBackBase {
  void init() { data.clear(); }
 
  bool distance(CollisionObject* o1, CollisionObject* o2, FCL_REAL& dist);
 
  DistanceData data;
 
  virtual ~DistanceCallBackDefault() {};
};
 
struct HPP_FCL_DLLAPI CollisionCallBackCollect : CollisionCallBackBase {
  typedef std::pair<CollisionObject*, CollisionObject*> CollisionPair;
 
  CollisionCallBackCollect(const size_t max_size);
 
  bool collide(CollisionObject* o1, CollisionObject* o2);
 
  size_t numCollisionPairs() const;
 
  const std::vector<CollisionPair>& getCollisionPairs() const;
 
  void init();
 
  bool exist(const CollisionPair& pair) const;
 
  bool exist(CollisionObject* o1, CollisionObject* o2) const;
 
  virtual ~CollisionCallBackCollect() {};
 
 protected:
  std::vector<CollisionPair> collision_pairs;
  size_t max_size;
};
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif  // HPP_FCL_BROADPHASE_DEFAULT_BROADPHASE_CALLBACKS_H