CollisionGroup.hpp

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#ifndef DART_COLLISION_COLLISIONGROUP_HPP_
#define DART_COLLISION_COLLISIONGROUP_HPP_
 
#include <map>
#include <vector>
#include "dart/collision/SmartPointer.hpp"
#include "dart/collision/CollisionOption.hpp"
#include "dart/collision/CollisionResult.hpp"
#include "dart/collision/DistanceOption.hpp"
#include "dart/collision/DistanceResult.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace collision {
 
class CollisionGroup
{
public:
 
  CollisionGroup(const CollisionDetectorPtr& collisionDetector);
  // CollisionGroup also can be created from CollisionDetector::create()
 
  virtual ~CollisionGroup() = default;
 
  CollisionDetectorPtr getCollisionDetector();
 
  ConstCollisionDetectorPtr getCollisionDetector() const;
 
  void addShapeFrame(const dynamics::ShapeFrame* shapeFrame);
 
  void addShapeFrames(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames);
 
  template <typename... Others>
  void addShapeFramesOf(const dynamics::ShapeFrame* shapeFrame,
                        const Others*... others);
 
  template <typename... Others>
  void addShapeFramesOf(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
      const Others*... others);
 
  template <typename... Others>
  void addShapeFramesOf(const CollisionGroup* otherGroup,
                        const Others*... others);
 
  template <typename... Others>
  void addShapeFramesOf(const dynamics::BodyNode* bodyNode,
                        const Others*... others);
 
  template <typename... Others>
  void addShapeFramesOf(const dynamics::MetaSkeleton* skeleton,
                        const Others*... others);
 
  void addShapeFramesOf();
 
  void removeShapeFrame(const dynamics::ShapeFrame* shapeFrame);
 
  void removeShapeFrames(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames);
 
  template <typename... Others>
  void removeShapeFramesOf(const dynamics::ShapeFrame* shapeFrame,
                           const Others*... others);
 
  template <typename... Others>
  void removeShapeFramesOf(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
      const Others*... others);
 
  template <typename... Others>
  void removeShapeFramesOf(const CollisionGroup* otherGroup,
                           const Others*... others);
 
  template <typename... Others>
  void removeShapeFramesOf(const dynamics::BodyNode* bodyNode,
                           const Others*... others);
 
  template <typename... Others>
  void removeShapeFramesOf(const dynamics::MetaSkeleton* skeleton,
                           const Others*... others);
 
  void removeShapeFramesOf();
 
  void removeAllShapeFrames();
 
  bool hasShapeFrame(const dynamics::ShapeFrame* shapeFrame) const;
 
  std::size_t getNumShapeFrames() const;
 
  const dynamics::ShapeFrame* getShapeFrame(std::size_t index) const;
 
  bool collide(
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr);
 
  bool collide(
      CollisionGroup* otherGroup,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr);
 
  double distance(
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr);
 
  double distance(
      CollisionGroup* otherGroup,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr);
 
protected:
 
  void updateEngineData();
 
  virtual void initializeEngineData() = 0;
 
  virtual void addCollisionObjectToEngine(CollisionObject* object) = 0;
 
  virtual void addCollisionObjectsToEngine(
      const std::vector<CollisionObject*>& collObjects) = 0;
 
  virtual void removeCollisionObjectFromEngine(CollisionObject* object) = 0;
 
  virtual void removeAllCollisionObjectsFromEngine() = 0;
 
  virtual void updateCollisionGroupEngineData() = 0;
 
protected:
 
  CollisionDetectorPtr mCollisionDetector;
  // CollisionGroup shares the ownership of CollisionDetector with other
  // CollisionGroups created from the same CollisionDetector so that the
  // CollisionDetector doesn't get destroyed as long as at least one
  // CollisionGroup is alive.
 
  std::vector<std::pair<const dynamics::ShapeFrame*,
                        CollisionObjectPtr>> mShapeFrameMap;
  // CollisionGroup also shares the ownership of CollisionObjects across other
  // CollisionGroups for the same reason with above.
  //
  // Dev note: This was supposed to be std::map rather than std::vector for
  // better search performance. The reason we use std::vector is to get
  // deterministic contact results regardless of the order of CollisionObjects
  // in this container for FCLCollisionDetector.
  //
  // fcl's collision result is dependent on the order of objects in the broad
  // phase classes. If we use std::map, the orders of element between the
  // original and copy are not guranteed to be the same as we copy std::map
  // (e.g., by world cloning).
 
};
 
}  // namespace collision
}  // namespace dart
 
#include "dart/collision/detail/CollisionGroup.hpp"
 
#endif  // DART_COLLISION_COLLISIONGROUP_HPP_