BulletCollisionDetector.hpp

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#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
#define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
 
// Must be included before any Bullet headers.
#include "dart/config.hpp"
 
#include <vector>
#include <assimp/scene.h>
#include <btBulletCollisionCommon.h>
#include "dart/collision/CollisionDetector.hpp"
#include "dart/collision/bullet/BulletCollisionGroup.hpp"
#include "dart/collision/bullet/BulletCollisionShape.hpp"
 
namespace dart {
namespace collision {
 
class BulletCollisionDetector : public CollisionDetector
{
public:
  using CollisionDetector::createCollisionGroup;
 
  friend class CollisionDetector;
 
  static std::shared_ptr<BulletCollisionDetector> create();
 
  ~BulletCollisionDetector() override;
 
  // Documentation inherited
  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
      const override;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
 
  // Documentation inherited
  bool collide(
      CollisionGroup* group,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr) override;
 
  // Documentation inherited
  bool collide(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr) override;
 
  // Documentation inherited
  double distance(
      CollisionGroup* group,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;
 
  // Documentation inherited
  double distance(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;
 
  // Documentation inherited
  bool raycast(
      CollisionGroup* group,
      const Eigen::Vector3d& from,
      const Eigen::Vector3d& to,
      const RaycastOption& option = RaycastOption(),
      RaycastResult* result = nullptr) override;
 
protected:
  BulletCollisionDetector();
 
  // Documentation inherited
  std::unique_ptr<CollisionObject> createCollisionObject(
      const dynamics::ShapeFrame* shapeFrame) override;
 
  // Documentation inherited
  void refreshCollisionObject(CollisionObject* object) override;
 
  // Documentation inherited
  void notifyCollisionObjectDestroying(CollisionObject* object) override;
 
private:
  std::shared_ptr<BulletCollisionShape> claimBulletCollisionShape(
      const dynamics::ConstShapePtr& shape);
 
  void reclaimBulletCollisionShape(const dynamics::ConstShapePtr& shape);
 
  std::unique_ptr<BulletCollisionShape> createBulletCollisionShape(
      const dynamics::ConstShapePtr& shape);
 
  class BulletCollisionShapeDeleter final
  {
  public:
    BulletCollisionShapeDeleter(
        BulletCollisionDetector* cd, const dynamics::ConstShapePtr& shape);
 
    void operator()(BulletCollisionShape* shape) const;
 
  private:
    BulletCollisionDetector* mBulletCollisionDetector;
 
    dynamics::ConstShapePtr mShape;
  };
 
  struct ShapeInfo final
  {
    std::weak_ptr<BulletCollisionShape> mShape;
 
    std::size_t mLastKnownVersion;
  };
 
private:
  std::map<dynamics::ConstShapePtr, ShapeInfo> mShapeMap;
 
  std::unique_ptr<BulletCollisionGroup> mGroupForFiltering;
 
  static Registrar<BulletCollisionDetector> mRegistrar;
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_