DART  6.6.2
DARTCollisionDetector.hpp
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32 
33 #ifndef DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
34 #define DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
35 
36 #include <vector>
38 
39 namespace dart {
40 namespace collision {
41 
42 class DARTCollisionObject;
43 
45 {
46 public:
48 
49  static std::shared_ptr<DARTCollisionDetector> create();
50 
51  // Documentation inherited
52  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects() override;
53 
54  // Documentation inherited
55  const std::string& getType() const override;
56 
58  static const std::string& getStaticType();
59 
60  // Documentation inherited
61  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
62 
63  // Documentation inherited
64  bool collide(
65  CollisionGroup* group,
66  const CollisionOption& option = CollisionOption(false, 1u, nullptr),
67  CollisionResult* result = nullptr) override;
68 
69  // Documentation inherited
70  bool collide(
71  CollisionGroup* group1,
72  CollisionGroup* group2,
73  const CollisionOption& option = CollisionOption(false, 1u, nullptr),
74  CollisionResult* result = nullptr) override;
75 
76  // Documentation inherited
77  double distance(
78  CollisionGroup* group,
79  const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
80  DistanceResult* result = nullptr) override;
81 
82  // Documentation inherited
83  double distance(
84  CollisionGroup* group1,
85  CollisionGroup* group2,
86  const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
87  DistanceResult* result = nullptr) override;
88 
89 protected:
90 
93 
94  // Documentation inherited
95  std::unique_ptr<CollisionObject> createCollisionObject(
96  const dynamics::ShapeFrame* shapeFrame) override;
97 
98 private:
100 };
101 
102 } // namespace collision
103 } // namespace dart
104 
105 #endif // DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
const CollisionOption & option
Collision option of DART.
Definition: FCLCollisionDetector.cpp:154
CollisionResult * result
Collision result of DART.
Definition: FCLCollisionDetector.cpp:157
Definition: CollisionDetector.hpp:56
virtual std::unique_ptr< CollisionGroup > createCollisionGroup()=0
Create a collision group.
Definition: CollisionGroup.hpp:49
Definition: CollisionResult.hpp:52
Definition: DARTCollisionDetector.hpp:45
static std::shared_ptr< DARTCollisionDetector > create()
Definition: DARTCollisionDetector.cpp:70
static Registrar< DARTCollisionDetector > mRegistrar
Definition: DARTCollisionDetector.hpp:99
std::shared_ptr< CollisionDetector > cloneWithoutCollisionObjects() override
Create a clone of this CollisionDetector.
Definition: DARTCollisionDetector.cpp:77
std::unique_ptr< CollisionGroup > createCollisionGroup() override
Create a collision group.
Definition: DARTCollisionDetector.cpp:97
double distance(CollisionGroup *group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
Get the minimum signed distance between the Shape pairs in the given CollisionGroup.
Definition: DARTCollisionDetector.cpp:235
std::unique_ptr< CollisionObject > createCollisionObject(const dynamics::ShapeFrame *shapeFrame) override
Create CollisionObject.
Definition: DARTCollisionDetector.cpp:299
bool collide(CollisionGroup *group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
Perform collision check for a single group.
Definition: DARTCollisionDetector.cpp:118
static const std::string & getStaticType()
Get collision detector type for this class.
Definition: DARTCollisionDetector.cpp:89
DARTCollisionDetector()
Constructor.
Definition: DARTCollisionDetector.cpp:260
const std::string & getType() const override
Return collision detection engine type as a std::string.
Definition: DARTCollisionDetector.cpp:83
Helper class to register a object creator function to the Singleton.
Definition: Factory.hpp:117
Definition: ShapeFrame.hpp:164
Definition: BulletCollisionDetector.cpp:63
Definition: CollisionOption.hpp:45
Definition: DistanceOption.hpp:45
Definition: DistanceResult.hpp:47