33 #ifndef DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
34 #define DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
40 #define MAX_COLLIDE_RETURNS 250
59 static std::shared_ptr<OdeCollisionDetector>
create();
69 const std::string&
getType()
const override;
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