collision.h

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#ifndef HPP_FCL_COLLISION_H
#define HPP_FCL_COLLISION_H
 
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/collision_func_matrix.h>
 
namespace hpp
{
namespace fcl
{
 
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                                   const CollisionRequest& request, CollisionResult& result);
 
HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                                   const CollisionGeometry* o2, const Transform3f& tf2,
                                   const CollisionRequest& request, CollisionResult& result);
 
inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                           CollisionRequest& request, CollisionResult& result)
{
  std::size_t res = collide(o1, o2, (const CollisionRequest&) request, result);
  request.updateGuess (result);
  return res;
}
 
inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                           const CollisionGeometry* o2, const Transform3f& tf2,
                           CollisionRequest& request, CollisionResult& result)
{
  std::size_t res = collide(o1, tf1, o2, tf2,
      (const CollisionRequest&) request, result);
  request.updateGuess (result);
  return res;
}
 
class HPP_FCL_DLLAPI ComputeCollision {
public:
  ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);
 
  std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
      const CollisionRequest& request, CollisionResult& result)
  {
    bool cached = request.enable_cached_gjk_guess;
    solver.enable_cached_guess = cached;
    if (cached) {
      solver.cached_guess = request.cached_gjk_guess;
      solver.support_func_cached_guess = request.cached_support_func_guess;
    }
 
    std::size_t res;
    if (swap_geoms) {
      res = func(o2, tf2, o1, tf1, &solver, request, result);
      result.swapObjects();
    } else {
      res = func (o1, tf1, o2, tf2, &solver, request, result);
    }
 
    if (cached) {
      result.cached_gjk_guess = solver.cached_guess;
      result.cached_support_func_guess = solver.support_func_cached_guess;
    }
    return res;
  }
 
  inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
      CollisionRequest& request, CollisionResult& result)
  {
    std::size_t res = operator()(tf1, tf2, (const CollisionRequest&) request, result);
    request.updateGuess (result);
    return res;
  }
 
private:
  CollisionGeometry const *o1, *o2;
  GJKSolver solver;
 
  CollisionFunctionMatrix::CollisionFunc func;
  bool swap_geoms;
};
 
} // namespace fcl
} // namespace hpp
 
#endif