CollisionDetector.hpp

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#ifndef DART_COLLISION_COLLISIONDETECTOR_HPP_
#define DART_COLLISION_COLLISIONDETECTOR_HPP_
 
#include <map>
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/collision/CollisionOption.hpp"
#include "dart/collision/CollisionResult.hpp"
#include "dart/collision/Contact.hpp"
#include "dart/collision/DistanceOption.hpp"
#include "dart/collision/DistanceResult.hpp"
#include "dart/collision/RaycastOption.hpp"
#include "dart/collision/RaycastResult.hpp"
#include "dart/collision/SmartPointer.hpp"
#include "dart/common/Factory.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace collision {
 
class CollisionObject;
 
class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
{
public:
  friend class CollisionObject;
  friend class CollisionGroup;
 
  using Factory = common::Factory<
      std::string,
      CollisionDetector,
      std::shared_ptr<CollisionDetector>>;
 
  using SingletonFactory = common::Singleton<Factory>;
 
  template <typename Derived>
  using Registrar = common::FactoryRegistrar<
      std::string,
      CollisionDetector,
      Derived,
      std::shared_ptr<CollisionDetector>>;
 
  static Factory* getFactory();
 
  virtual ~CollisionDetector() = default;
 
  virtual std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
      const = 0;
 
  virtual const std::string& getType() const = 0;
 
  virtual std::unique_ptr<CollisionGroup> createCollisionGroup() = 0;
 
  std::shared_ptr<CollisionGroup> createCollisionGroupAsSharedPtr();
 
  template <typename... Args>
  std::unique_ptr<CollisionGroup> createCollisionGroup(const Args&... args);
 
  template <typename... Args>
  std::shared_ptr<CollisionGroup> createCollisionGroupAsSharedPtr(
      const Args&... args);
 
  virtual bool collide(
      CollisionGroup* group,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr)
      = 0;
 
  virtual bool collide(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr)
      = 0;
 
  virtual double distance(
      CollisionGroup* group,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr)
      = 0;
 
  virtual double distance(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr)
      = 0;
 
  virtual bool raycast(
      CollisionGroup* group,
      const Eigen::Vector3d& from,
      const Eigen::Vector3d& to,
      const RaycastOption& option = RaycastOption(),
      RaycastResult* result = nullptr);
 
protected:
  class CollisionObjectManager;
  class ManagerForUnsharableCollisionObjects;
  class ManagerForSharableCollisionObjects;
 
  CollisionDetector() = default;
 
  std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame);
 
  virtual std::unique_ptr<CollisionObject> createCollisionObject(
      const dynamics::ShapeFrame* shapeFrame)
      = 0;
 
  virtual void refreshCollisionObject(CollisionObject* object) = 0;
 
  virtual void notifyCollisionObjectDestroying(CollisionObject* object);
 
protected:
  std::unique_ptr<CollisionObjectManager> mCollisionObjectManager;
};
 
//==============================================================================
class CollisionDetector::CollisionObjectManager
{
public:
  CollisionObjectManager(CollisionDetector* cd);
 
  virtual std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame)
      = 0;
 
  CollisionDetector* getCollisionDetector();
 
  virtual ~CollisionObjectManager() = default;
 
protected:
  CollisionDetector* mCollisionDetector;
};
 
//==============================================================================
class CollisionDetector::ManagerForUnsharableCollisionObjects final
  : public CollisionDetector::CollisionObjectManager
{
public:
  ManagerForUnsharableCollisionObjects(CollisionDetector* cd);
 
  // Documentation inherited
  std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame);
 
private:
  struct CollisionObjectDeleter final
  {
    ManagerForUnsharableCollisionObjects* mCollisionObjectManager;
 
    CollisionObjectDeleter(ManagerForUnsharableCollisionObjects* mgr);
 
    void operator()(CollisionObject* object) const;
  };
 
  const CollisionObjectDeleter mCollisionObjectDeleter;
};
 
//==============================================================================
class CollisionDetector::ManagerForSharableCollisionObjects final
  : public CollisionDetector::CollisionObjectManager
{
public:
  ManagerForSharableCollisionObjects(CollisionDetector* cd);
 
  virtual ~ManagerForSharableCollisionObjects();
 
  // Documentation inherited
  std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame);
 
private:
  struct CollisionObjectDeleter final
  {
    ManagerForSharableCollisionObjects* mCollisionObjectManager;
 
    CollisionObjectDeleter(ManagerForSharableCollisionObjects* mgr);
 
    void operator()(CollisionObject* object) const;
  };
 
  const CollisionObjectDeleter mCollisionObjectDeleter;
 
  using CollisionObjectMap
      = std::map<const dynamics::ShapeFrame*, std::weak_ptr<CollisionObject>>;
 
  CollisionObjectMap mCollisionObjectMap;
};
 
} // namespace collision
} // namespace dart
 
#include "dart/collision/detail/CollisionDetector.hpp"
 
#endif // DART_COLLISION_COLLISIONDETECTOR_HPP_