DART  6.10.1
OdeCollisionDetector.hpp
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32 
33 #ifndef DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
34 #define DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
35 
36 #include <ode/ode.h>
37 
39 
40 #define MAX_COLLIDE_RETURNS 250
41 
42 namespace dart {
43 namespace collision {
44 
53 {
54 public:
56 
57  friend class OdeCollisionObject;
58 
59  static std::shared_ptr<OdeCollisionDetector> create();
60 
62  virtual ~OdeCollisionDetector();
63 
64  // Documentation inherited
65  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
66  const override;
67 
68  // Documentation inherited
69  const std::string& getType() const override;
70 
72  static const std::string& getStaticType();
73 
74  // Documentation inherited
75  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
76 
77  // Documentation inherited
78  bool collide(
79  CollisionGroup* group,
80  const CollisionOption& option = CollisionOption(false, 1u, nullptr),
81  CollisionResult* result = nullptr) override;
82 
83  // Documentation inherited
84  bool collide(
85  CollisionGroup* group1,
86  CollisionGroup* group2,
87  const CollisionOption& option = CollisionOption(false, 1u, nullptr),
88  CollisionResult* result = nullptr) override;
89 
91  double distance(
92  CollisionGroup* group,
93  const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
94  DistanceResult* result = nullptr) override;
95 
97  double distance(
98  CollisionGroup* group1,
99  CollisionGroup* group2,
100  const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
101  DistanceResult* result = nullptr) override;
102 
103 protected:
106 
107  // Documentation inherited
108  std::unique_ptr<CollisionObject> createCollisionObject(
109  const dynamics::ShapeFrame* shapeFrame) override;
110 
111  // Documentation inherited
112  void refreshCollisionObject(CollisionObject* object) override;
113 
114  dWorldID getOdeWorldId() const;
115 
116 protected:
118  dWorldID mWorldId;
119 
120 private:
122 
123 private:
126 };
127 
128 } // namespace collision
129 } // namespace dart
130 
131 #endif // DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
const CollisionOption & option
Collision option of DART.
Definition: FCLCollisionDetector.cpp:157
CollisionResult * result
Collision result of DART.
Definition: FCLCollisionDetector.cpp:160
#define MAX_COLLIDE_RETURNS
Definition: OdeCollisionDetector.hpp:40
Definition: CollisionDetector.hpp:58
virtual std::unique_ptr< CollisionGroup > createCollisionGroup()=0
Create a collision group.
Definition: CollisionGroup.hpp:53
Definition: CollisionObject.hpp:45
Definition: CollisionResult.hpp:52
OdeCollisionDetector wraps the ODE collision detector.
Definition: OdeCollisionDetector.hpp:53
static Registrar< OdeCollisionDetector > mRegistrar
Definition: OdeCollisionDetector.hpp:125
std::unique_ptr< CollisionObject > createCollisionObject(const dynamics::ShapeFrame *shapeFrame) override
Create CollisionObject.
Definition: OdeCollisionDetector.cpp:230
static const std::string & getStaticType()
Get collision detector type for this class.
Definition: OdeCollisionDetector.cpp:138
virtual ~OdeCollisionDetector()
Constructor.
Definition: OdeCollisionDetector.cpp:116
const std::string & getType() const override
Return collision detection engine type as a std::string.
Definition: OdeCollisionDetector.cpp:132
dWorldID mWorldId
Top-level world for all bodies.
Definition: OdeCollisionDetector.hpp:118
dWorldID getOdeWorldId() const
Definition: OdeCollisionDetector.cpp:248
dContactGeom contactCollisions[250]
Definition: OdeCollisionDetector.hpp:124
void refreshCollisionObject(CollisionObject *object) override
Update the collision geometry of a ShapeFrame.
Definition: OdeCollisionDetector.cpp:238
static std::shared_ptr< OdeCollisionDetector > create()
Definition: OdeCollisionDetector.cpp:110
bool collide(CollisionGroup *group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
Perform collision check for a single group.
Definition: OdeCollisionDetector.cpp:151
std::unique_ptr< CollisionGroup > createCollisionGroup() override
Create a collision group.
Definition: OdeCollisionDetector.cpp:145
dGeomID createOdeCollisionGeometry(const dynamics::ConstShapePtr &shape)
std::shared_ptr< CollisionDetector > cloneWithoutCollisionObjects() const override
Create a clone of this CollisionDetector.
Definition: OdeCollisionDetector.cpp:126
double distance(CollisionGroup *group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
Definition: OdeCollisionDetector.cpp:193
OdeCollisionDetector()
Constructor.
Definition: OdeCollisionDetector.cpp:216
Definition: OdeCollisionObject.hpp:49
Helper class to register a object creator function to the Singleton.
Definition: Factory.hpp:125
Definition: ShapeFrame.hpp:192
std::shared_ptr< const Shape > ConstShapePtr
Definition: SmartPointer.hpp:81
Definition: BulletCollisionDetector.cpp:65
Definition: CollisionOption.hpp:45
Definition: DistanceOption.hpp:45
Definition: DistanceResult.hpp:47
Definition: DARTCollide.cpp:91