hpp-fcl: include/hpp/fcl/collision.h Source File

hpp-fcl 1.6.0 HPP fork of FCL -- The Flexible Collision Library

collision.h
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35
39 #ifndef HPP_FCL_COLLISION_H
40 #define HPP_FCL_COLLISION_H
41
42 #include <hpp/fcl/data_types.h>
43 #include <hpp/fcl/collision_object.h>
44 #include <hpp/fcl/collision_data.h>
45 #include <hpp/fcl/collision_func_matrix.h>
46
47 namespace hpp
48 {
49 namespace fcl
50 {
51
56 HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
57 const CollisionRequest& request, CollisionResult& result);
58
60 HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
61 const CollisionGeometry* o2, const Transform3f& tf2,
62 const CollisionRequest& request, CollisionResult& result);
63
67 inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
68 CollisionRequest& request, CollisionResult& result)
69 {
70 std::size_t res = collide(o1, o2, (const CollisionRequest&) request, result);
71 request.updateGuess (result);
72 return res;
73 }
74
78 inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
79 const CollisionGeometry* o2, const Transform3f& tf2,
80 CollisionRequest& request, CollisionResult& result)
81 {
82 std::size_t res = collide(o1, tf1, o2, tf2,
83 (const CollisionRequest&) request, result);
84 request.updateGuess (result);
85 return res;
86 }
87
95 class HPP_FCL_DLLAPI ComputeCollision {
96 public:
97 ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);
98
99 std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
100 const CollisionRequest& request, CollisionResult& result)
101 {
102 bool cached = request.enable_cached_gjk_guess;
103 solver.enable_cached_guess = cached;
104 if (cached) {
105 solver.cached_guess = request.cached_gjk_guess;
106 solver.support_func_cached_guess = request.cached_support_func_guess;
107 }
108
109 std::size_t res;
110 if (swap_geoms) {
111 res = func(o2, tf2, o1, tf1, &solver, request, result);
112 result.swapObjects();
113 } else {
114 res = func (o1, tf1, o2, tf2, &solver, request, result);
115 }
116
117 if (cached) {
118 result.cached_gjk_guess = solver.cached_guess;
119 result.cached_support_func_guess = solver.support_func_cached_guess;
120 }
121 return res;
122 }
123
124 inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
125 CollisionRequest& request, CollisionResult& result)
126 {
127 std::size_t res = operator()(tf1, tf2, (const CollisionRequest&) request, result);
128 request.updateGuess (result);
129 return res;
130 }
131
132 private:
133 CollisionGeometry const *o1, *o2;
134 GJKSolver solver;
135
136 CollisionFunctionMatrix::CollisionFunc func;
137 bool swap_geoms;
138 };
139
140 } // namespace fcl
141 } // namespace hpp
142
143 #endif
hpp::fcl::ComputeCollision::operator()
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result)
Definition: collision.h:124
data_types.h
collision_func_matrix.h
collision_object.h
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:198
hpp::fcl::QueryRequest::cached_support_func_guess
support_func_guess_t cached_support_func_guess
the support function intial guess set by user
Definition: collision_data.h:149
hpp::fcl::QueryRequest::cached_gjk_guess
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:146
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
hpp::fcl::CollisionResult::swapObjects
void swapObjects()
reposition Contact objects when fcl inverts them during their construction.
hpp::fcl::collide
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
hpp::fcl::CollisionFunctionMatrix::CollisionFunc
std::size_t(* CollisionFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
the uniform call interface for collision: for collision, we need know
Definition: collision_func_matrix.h:61
collision_data.h
hpp
Main namespace.
Definition: AABB.h:44
hpp::fcl::ComputeCollision
Definition: collision.h:95
hpp::fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_object.h:64
hpp::fcl::QueryResult::cached_gjk_guess
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:172
hpp::fcl::ComputeCollision::ComputeCollision
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)
hpp::fcl::GJKSolver
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:51
hpp::fcl::QueryResult::cached_support_func_guess
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:175
hpp::fcl::QueryRequest::enable_cached_gjk_guess
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:143
hpp::fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:158
hpp::fcl::ComputeCollision::operator()
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
Definition: collision.h:99
hpp::fcl::CollisionResult
collision result
Definition: collision_data.h:250
hpp::fcl::QueryRequest::updateGuess
void updateGuess(const QueryResult &result)
Definition: collision_data.h:178