GCC Code Coverage Report

Directory: ./
File: include/pinocchio/collision/broadphase-manager-base.hpp
Date: 2025-02-12 21:03:38
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4
5 #ifndef __pinocchio_collision_broadphase_manager_base_hpp__
6 #define __pinocchio_collision_broadphase_manager_base_hpp__
7
8 #include "pinocchio/multibody/geometry.hpp"
9 #include "pinocchio/collision/broadphase-callbacks.hpp"
10
11 namespace pinocchio
12 {
13
14 template<typename Derived>
15 struct BroadPhaseManagerBase
16 {
17 /// @brief Default constructor
18 BroadPhaseManagerBase() // for std::vector
19 : model_ptr(nullptr)
20 , geometry_model_ptr(nullptr)
21 , geometry_data_ptr(nullptr)
22 {
23 }
24
25 /// @brief Constructor from a given geometry model and geometry data
26 108 BroadPhaseManagerBase(
27 const Model * model_ptr,
28 const GeometryModel * geometry_model_ptr,
29 GeometryData * geometry_data_ptr)
30 108 : model_ptr(model_ptr)
31 108 , geometry_model_ptr(geometry_model_ptr)
32 108 , geometry_data_ptr(geometry_data_ptr)
33 {
34 108 }
35
36 /// @brief Copy constructor
37 34 BroadPhaseManagerBase(const BroadPhaseManagerBase & other)
38 34 : model_ptr(other.model_ptr)
39 34 , geometry_model_ptr(other.geometry_model_ptr)
40 34 , geometry_data_ptr(other.geometry_data_ptr)
41 {
42 34 }
43
44 BroadPhaseManagerBase &
45 operator=(const BroadPhaseManagerBase & other) // Copy assignment operator
46 {
47 model_ptr = other.model_ptr;
48 geometry_model_ptr = other.geometry_model_ptr;
49 geometry_data_ptr = other.geometry_data_ptr;
50 return *this;
51 }
52
53 2004 Derived & derived()
54 {
55 2004 return static_cast<Derived &>(*this);
56 }
57 4016 const Derived & derived() const
58 {
59 4016 return static_cast<const Derived &>(*this);
60 }
61
62 /// @brief Check whether the base broad phase manager is aligned with the current
63 /// collision_objects.
64 bool check() const
65 {
66 return derived().check();
67 }
68
69 /// @brief Check whether the callback is inline with *this
70 2008 bool check(CollisionCallBackBase * callback) const
71 {
72 2008 return derived().check(callback);
73 }
74
75 ///
76 /// @brief Update the manager from the current geometry positions and update the underlying FCL
77 /// broad phase manager.
78 ///
79 /// @param[in] compute_local_aabb whether to recompute the local AABB of the collision
80 /// geometries which have changed.
81 ///
82 2004 void update(bool compute_local_aabb = false)
83 {
84 2004 derived().update(compute_local_aabb);
85 2004 }
86
87 ///
88 /// @brief Update the manager with a new geometry data.
89 ///
90 /// \param[in] geom_data_ptr_new pointer to the new geometry data.
91 ///
92 void update(GeometryData * geom_data_ptr_new)
93 {
94 derived().update(geom_data_ptr_new);
95 }
96
97 /// @brief Performs collision test between one object and all the objects belonging to the
98 /// manager.
99 bool collide(CollisionObject & obj, CollisionCallBackBase * callback) const
100 {
101 return derived().collide(obj, callback);
102 }
103
104 /// @brief Performs collision test for the objects belonging to the manager.
105 2008 bool collide(CollisionCallBackBase * callback) const
106 {
107 2008 return derived().collide(callback);
108 }
109
110 /// @brief Performs collision test with objects belonging to another manager.
111 bool collide(BroadPhaseManagerBase & other_manager, CollisionCallBackBase * callback) const
112 {
113 return derived().collide(other_manager.derived(), callback);
114 }
115
116 // /// @brief Performs distance computation between one object and all the objects belonging to
117 // the manager void distance(CollisionObject* obj, DistanceCallBackBase * callback) const;
118
119 // /// @brief Performs distance test for the objects belonging to the manager (i.e., N^2 self
120 // distance) void distance(DistanceCallBackBase * callback) const;
121
122 // /// @brief Performs distance test with objects belonging to another manager
123 // void distance(BroadPhaseCollisionManager* other_manager, DistanceCallBackBase * callback)
124 // const;
125
126 /// @brief Returns the model associated to the manager.
127 34 const Model & getModel() const
128 {
129 34 return *model_ptr;
130 }
131
132 /// @brief Returns the geometry model associated to the manager.
133 207835 const GeometryModel & getGeometryModel() const
134 {
135 207835 return *geometry_model_ptr;
136 }
137
138 /// @brief Returns the geometry data associated to the manager.
139 34136 const GeometryData & getGeometryData() const
140 {
141 34136 return *geometry_data_ptr;
142 }
143
144 /// @brief Returns the geometry data associated to the manager.
145 38115 GeometryData & getGeometryData()
146 {
147 38115 return *geometry_data_ptr;
148 }
149
150 protected:
151 /// @brief Pointer to the model
152 const Model * model_ptr;
153
154 /// @brief Pointer to the geometry model
155 const GeometryModel * geometry_model_ptr;
156
157 /// @brief Pointer to the geometry data
158 GeometryData * geometry_data_ptr;
159
160 }; // struct BroadPhaseManagerBase<Derived>
161
162 } // namespace pinocchio
163
164 #endif // ifndef __pinocchio_collision_broadphase_manager_base_hpp__
165