33 #ifndef DART_COLLISION_COLLISIONGROUP_HPP_
34 #define DART_COLLISION_COLLISIONGROUP_HPP_
36 #include <unordered_map>
37 #include <unordered_set>
74 const std::vector<const dynamics::ShapeFrame*>& shapeFrames);
84 template <
typename... Others>
89 template <
typename... Others>
91 const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
92 const Others*... others);
96 template <
typename... Others>
102 template <
typename... Others>
108 template <
typename... Others>
121 template <
typename... Others>
134 template <
typename... Others>
150 const std::vector<const dynamics::ShapeFrame*>& shapeFrames);
160 template <
typename... Others>
165 template <
typename... Others>
167 const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
168 const Others*... others);
175 template <
typename... Others>
184 template <
typename... Others>
193 template <
typename... Others>
206 template <
typename... Others>
212 template <
typename... Others>
276 const Eigen::Vector3d& from,
277 const Eigen::Vector3d& to,
320 const std::vector<CollisionObject*>& collObjects)
423 std::unordered_map<const common::Subject*, const dynamics::ShapeFrame*>
445 template <
typename Source,
typename Child =
void>
455 std::unordered_map<const dynamics::ShapeFrame*, ObjectInfo*>
mObjects;
465 std::unordered_set<const dynamics::ShapeFrame*>
mFrames;
491 = std::unordered_map<const dynamics::MetaSkeleton*, SkeletonSource>;
496 = std::unordered_map<const dynamics::BodyNode*, BodyNodeSource>;
const CollisionOption & option
Collision option of DART.
Definition: FCLCollisionDetector.cpp:157
CollisionResult * result
Collision result of DART.
Definition: FCLCollisionDetector.cpp:160
std::size_t index
Definition: SkelParser.cpp:1672
This class watches when ShapeFrames get deleted so that they can be safely removes from the Collision...
Definition: CollisionGroup.hpp:399
void removeShapeFrame(const dynamics::ShapeFrame *shapeFrame)
Remove a shape frame from this observer.
Definition: CollisionGroup.cpp:326
void handleDestructionNotification(const common::Subject *subject) override
This will be called each time an observed shape frame is deleted.
Definition: CollisionGroup.cpp:340
std::unordered_set< const dynamics::ShapeFrame * > mDeletedFrames
Whenever an observed shape frame gets deleted, its pointer will be added to this set.
Definition: CollisionGroup.hpp:413
void addShapeFrame(const dynamics::ShapeFrame *shapeFrame)
Add a shape frame to this observer.
Definition: CollisionGroup.cpp:317
std::unordered_map< const common::Subject *, const dynamics::ShapeFrame * > mMap
A map from a subject pointer to its corresponding ShapeFrame pointer.
Definition: CollisionGroup.hpp:424
void removeAllShapeFrames()
Remove all shape frames from this observer.
Definition: CollisionGroup.cpp:334
Definition: CollisionGroup.hpp:53
ShapeFrameObserver mObserver
The object that observes the Shape Frames that this group cares about.
Definition: CollisionGroup.hpp:517
virtual void addCollisionObjectToEngine(CollisionObject *object)=0
Add CollisionObject to the collision detection engine.
void addShapeFramesOf()
Do nothing.
Definition: CollisionGroup.cpp:79
bool collide(const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr)
Perform collision check within this CollisionGroup.
Definition: CollisionGroup.cpp:184
bool mUpdateAutomatically
Set this to true to have this CollisionGroup check for updates automatically.
Definition: CollisionGroup.hpp:440
void subscribeTo()
Do nothing.
Definition: CollisionGroup.cpp:85
bool updateSkeletonSource(SkeletonSources::value_type &entry)
Internal function called to update a Skeleton source.
Definition: CollisionGroup.cpp:418
bool updateBodyNodeSource(BodyNodeSources::value_type &entry)
Internal function called to update a BodyNode source.
Definition: CollisionGroup.cpp:549
CollisionDetectorPtr mCollisionDetector
Collision detector.
Definition: CollisionGroup.hpp:335
void removeShapeFrames(const std::vector< const dynamics::ShapeFrame * > &shapeFrames)
Remove ShapeFrames from this CollisionGroup.
Definition: CollisionGroup.cpp:132
virtual void initializeEngineData()=0
Initialize the collision detection engine data such as broadphase algorithm.
void addShapeFrames(const std::vector< const dynamics::ShapeFrame * > &shapeFrames)
Add ShapeFrames to this CollisionGroup.
Definition: CollisionGroup.cpp:71
double distance(const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr)
Get the minimum signed distance between the Shape pairs in this CollisionGroup.
Definition: CollisionGroup.cpp:206
SkeletonSources mSkeletonSources
Skeleton sources that this group is subscribed to.
Definition: CollisionGroup.hpp:511
bool updateShapeFrame(ObjectInfo *object)
Internal function called to update a ShapeFrame.
Definition: CollisionGroup.cpp:614
std::unordered_map< const dynamics::BodyNode *, BodyNodeSource > BodyNodeSources
Definition: CollisionGroup.hpp:496
virtual void removeAllCollisionObjectsFromEngine()=0
Remove all the CollisionObjects from the collision detection engine.
void unsubscribeFrom(const dynamics::BodyNode *bodyNode, const Others *... others)
Unsubscribe from bodyNode.
Definition: CollisionGroup.hpp:249
void removeDeletedShapeFrames()
Remove any ShapeFrames that have been deleted.
Definition: CollisionGroup.cpp:265
ObjectInfo * addShapeFrameImpl(const dynamics::ShapeFrame *shapeFrame, const void *source)
Implementation of addShapeFrame.
Definition: CollisionGroup.cpp:348
void removeAllShapeFrames()
Remove all the ShapeFrames in this CollisionGroup.
Definition: CollisionGroup.cpp:146
bool raycast(const Eigen::Vector3d &from, const Eigen::Vector3d &to, const RaycastOption &option=RaycastOption(), RaycastResult *result=nullptr)
Performs raycast to this collision group.
Definition: CollisionGroup.cpp:228
void addShapeFrame(const dynamics::ShapeFrame *shapeFrame)
Add a ShapeFrame to this CollisionGroup.
Definition: CollisionGroup.cpp:65
virtual void updateCollisionGroupEngineData()=0
Update the collision detection engine data such as broadphase algorithm.
void removeShapeFrame(const dynamics::ShapeFrame *shapeFrame)
Remove a ShapeFrame from this CollisionGroup.
Definition: CollisionGroup.cpp:91
virtual void addCollisionObjectsToEngine(const std::vector< CollisionObject * > &collObjects)=0
Add CollisionObjects to the collision detection engine.
void updateEngineData()
Update engine data.
Definition: CollisionGroup.cpp:308
virtual void removeCollisionObjectFromEngine(CollisionObject *object)=0
Remove CollisionObject from the collision detection engine.
void update()
Check whether this CollisionGroup's subscriptions or any of its objects need an update,...
Definition: CollisionGroup.cpp:253
bool getAutomaticUpdate() const
Get whether this CollisionGroup is set to automatically check for updates.
Definition: CollisionGroup.cpp:247
virtual ~CollisionGroup()=default
Destructor.
bool hasShapeFrame(const dynamics::ShapeFrame *shapeFrame) const
Return true if this CollisionGroup contains shapeFrame.
Definition: CollisionGroup.cpp:155
void setAutomaticUpdate(bool automatic=true)
Set whether this CollisionGroup will automatically check for updates.
Definition: CollisionGroup.cpp:241
CollisionGroup(const CollisionDetectorPtr &collisionDetector)
Constructor.
Definition: CollisionGroup.cpp:46
std::size_t getNumShapeFrames() const
Return number of ShapeFrames added to this CollisionGroup.
Definition: CollisionGroup.cpp:167
void removeShapeFramesOf()
Do nothing.
Definition: CollisionGroup.cpp:140
std::vector< std::unique_ptr< ObjectInfo > > ObjectInfoList
Definition: CollisionGroup.hpp:369
void removeShapeFrameInternal(const dynamics::ShapeFrame *shapeFrame, const void *source)
Internal version of removeShapeFrame.
Definition: CollisionGroup.cpp:390
CollisionDetectorPtr getCollisionDetector()
Return collision detection engine associated with this CollisionGroup.
Definition: CollisionGroup.cpp:53
ObjectInfoList mObjectInfoList
Information about ShapeFrames and CollisionObjects that have been added to this CollisionGroup.
Definition: CollisionGroup.hpp:373
const dynamics::ShapeFrame * getShapeFrame(std::size_t index) const
Get the ShapeFrame corresponding to the given index.
Definition: CollisionGroup.cpp:173
BodyNodeSources mBodyNodeSources
BodyNode sources that this group is susbscribed to.
Definition: CollisionGroup.hpp:514
std::unordered_map< const dynamics::MetaSkeleton *, SkeletonSource > SkeletonSources
Definition: CollisionGroup.hpp:491
Definition: CollisionObject.hpp:45
Definition: CollisionResult.hpp:52
The Observer class should be inherited by any class that wants to respond in a customized way to the ...
Definition: Observer.hpp:52
The Subject class is a base class for any object that wants to report when it gets destroyed.
Definition: Subject.hpp:58
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
Definition: ShapeFrame.hpp:192
class Skeleton
Definition: Skeleton.hpp:59
TemplateBodyNodePtr is a templated class that enables users to create a reference-counting BodyNodePt...
Definition: BodyNodePtr.hpp:110
std::shared_ptr< const CollisionDetector > ConstCollisionDetectorPtr
Definition: SmartPointer.hpp:41
std::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: SmartPointer.hpp:41
std::shared_ptr< CollisionObject > CollisionObjectPtr
Definition: SmartPointer.hpp:45
std::shared_ptr< const Skeleton > ConstSkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:65
This is information pertaining to a child of the source.
Definition: CollisionGroup.hpp:460
ChildInfo(const std::size_t version)
A constructor that simply accepts a last known version number.
Definition: CollisionGroup.hpp:469
std::size_t mLastKnownVersion
Last known version of this child.
Definition: CollisionGroup.hpp:462
std::unordered_set< const dynamics::ShapeFrame * > mFrames
Last known set of frames attached to this child.
Definition: CollisionGroup.hpp:465
This struct is used to store sources of ShapeFrames that the CollisionGroup is subscribed to,...
Definition: CollisionGroup.hpp:447
std::unordered_map< const Child *, ChildInfo > mChildren
The last known versions of the children related to this source.
Definition: CollisionGroup.hpp:477
std::unordered_map< const dynamics::ShapeFrame *, ObjectInfo * > mObjects
The set of objects that pertain to this source.
Definition: CollisionGroup.hpp:455
Source mSource
The source of ShapeFrames.
Definition: CollisionGroup.hpp:449
CollisionSource(const Source &source, std::size_t lastKnownVersion)
Constructor.
Definition: CollisionGroup.hpp:480
std::size_t mLastKnownVersion
The last known version of that source.
Definition: CollisionGroup.hpp:452
Information on a collision object belonging to this group.
Definition: CollisionGroup.hpp:346
std::size_t mLastKnownVersion
The last known version of the last known shape that was held by the shape frame.
Definition: CollisionGroup.hpp:358
std::unordered_set< const void * > mSources
The set of all sources that indicate that this object should be in this group.
Definition: CollisionGroup.hpp:366
CollisionObjectPtr mObject
The CollisionObject that was generated by the CollisionDetector.
Definition: CollisionGroup.hpp:351
const dynamics::ShapeFrame * mFrame
The ShapeFrame for this object.
Definition: CollisionGroup.hpp:348
std::size_t mLastKnownShapeID
The ID of that last known shape that was held by the shape frame.
Definition: CollisionGroup.hpp:354
Definition: CollisionOption.hpp:45
Definition: DistanceOption.hpp:45
Definition: DistanceResult.hpp:47
Definition: RaycastOption.hpp:43
Definition: RaycastResult.hpp:63