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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_collision_broadphase_manager_base_hpp__ |
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#define __pinocchio_collision_broadphase_manager_base_hpp__ |
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#include "pinocchio/multibody/geometry.hpp" |
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#include "pinocchio/collision/broadphase-callbacks.hpp" |
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namespace pinocchio |
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{ |
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template<typename Derived> |
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struct BroadPhaseManagerBase |
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{ |
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/// @brief Default constructor |
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BroadPhaseManagerBase() // for std::vector |
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: model_ptr(nullptr) |
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, geometry_model_ptr(nullptr) |
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, geometry_data_ptr(nullptr) |
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{ |
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} |
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/// @brief Constructor from a given geometry model and geometry data |
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BroadPhaseManagerBase( |
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const Model * model_ptr, |
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const GeometryModel * geometry_model_ptr, |
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GeometryData * geometry_data_ptr) |
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: model_ptr(model_ptr) |
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, geometry_model_ptr(geometry_model_ptr) |
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, geometry_data_ptr(geometry_data_ptr) |
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{ |
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} |
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/// @brief Copy constructor |
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BroadPhaseManagerBase(const BroadPhaseManagerBase & other) |
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: model_ptr(other.model_ptr) |
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, geometry_model_ptr(other.geometry_model_ptr) |
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, geometry_data_ptr(other.geometry_data_ptr) |
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{ |
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} |
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BroadPhaseManagerBase & |
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operator=(const BroadPhaseManagerBase & other) // Copy assignment operator |
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{ |
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model_ptr = other.model_ptr; |
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geometry_model_ptr = other.geometry_model_ptr; |
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geometry_data_ptr = other.geometry_data_ptr; |
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return *this; |
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} |
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Derived & derived() |
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{ |
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return static_cast<Derived &>(*this); |
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} |
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const Derived & derived() const |
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{ |
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return static_cast<const Derived &>(*this); |
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} |
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/// @brief Check whether the base broad phase manager is aligned with the current |
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/// collision_objects. |
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bool check() const |
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{ |
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return derived().check(); |
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} |
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/// @brief Check whether the callback is inline with *this |
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bool check(CollisionCallBackBase * callback) const |
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{ |
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return derived().check(callback); |
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} |
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/// |
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/// @brief Update the manager from the current geometry positions and update the underlying FCL |
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/// broad phase manager. |
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/// |
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/// @param[in] compute_local_aabb whether to recompute the local AABB of the collision |
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/// geometries which have changed. |
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/// |
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void update(bool compute_local_aabb = false) |
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{ |
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derived().update(compute_local_aabb); |
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} |
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/// |
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/// @brief Update the manager with a new geometry data. |
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/// |
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/// \param[in] geom_data_ptr_new pointer to the new geometry data. |
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/// |
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void update(GeometryData * geom_data_ptr_new) |
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{ |
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derived().update(geom_data_ptr_new); |
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} |
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/// @brief Performs collision test between one object and all the objects belonging to the |
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/// manager. |
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bool collide(CollisionObject & obj, CollisionCallBackBase * callback) const |
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{ |
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return derived().collide(obj, callback); |
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} |
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/// @brief Performs collision test for the objects belonging to the manager. |
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bool collide(CollisionCallBackBase * callback) const |
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{ |
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return derived().collide(callback); |
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} |
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/// @brief Performs collision test with objects belonging to another manager. |
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bool collide(BroadPhaseManagerBase & other_manager, CollisionCallBackBase * callback) const |
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{ |
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return derived().collide(other_manager.derived(), callback); |
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} |
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// /// @brief Performs distance computation between one object and all the objects belonging to |
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// the manager void distance(CollisionObject* obj, DistanceCallBackBase * callback) const; |
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// /// @brief Performs distance test for the objects belonging to the manager (i.e., N^2 self |
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// distance) void distance(DistanceCallBackBase * callback) const; |
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// /// @brief Performs distance test with objects belonging to another manager |
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// void distance(BroadPhaseCollisionManager* other_manager, DistanceCallBackBase * callback) |
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// const; |
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/// @brief Returns the model associated to the manager. |
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const Model & getModel() const |
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{ |
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return *model_ptr; |
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} |
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/// @brief Returns the geometry model associated to the manager. |
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const GeometryModel & getGeometryModel() const |
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{ |
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return *geometry_model_ptr; |
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} |
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/// @brief Returns the geometry data associated to the manager. |
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const GeometryData & getGeometryData() const |
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{ |
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return *geometry_data_ptr; |
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} |
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/// @brief Returns the geometry data associated to the manager. |
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GeometryData & getGeometryData() |
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{ |
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return *geometry_data_ptr; |
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} |
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protected: |
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/// @brief Pointer to the model |
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const Model * model_ptr; |
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/// @brief Pointer to the geometry model |
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const GeometryModel * geometry_model_ptr; |
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/// @brief Pointer to the geometry data |
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GeometryData * geometry_data_ptr; |
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}; // struct BroadPhaseManagerBase<Derived> |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_collision_broadphase_manager_base_hpp__ |
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