DART  6.7.3
OdeCollisionDetector.hpp
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32 
33 #ifndef DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
34 #define DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
35 
36 #include <ode/ode.h>
37 
39 
40 #define MAX_COLLIDE_RETURNS 250
41 
42 namespace dart {
43 namespace collision {
44 
53 {
54 public:
56 
57  friend class OdeCollisionObject;
58 
59  static std::shared_ptr<OdeCollisionDetector> create();
60 
62  virtual ~OdeCollisionDetector();
63 
64  // Documentation inherited
65  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects() override;
66 
67  // Documentation inherited
68  const std::string& getType() const override;
69 
71  static const std::string& getStaticType();
72 
73  // Documentation inherited
74  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
75 
76  // Documentation inherited
77  bool collide(
78  CollisionGroup* group,
79  const CollisionOption& option = CollisionOption(false, 1u, nullptr),
80  CollisionResult* result = nullptr) override;
81 
82  // Documentation inherited
83  bool collide(
84  CollisionGroup* group1,
85  CollisionGroup* group2,
86  const CollisionOption& option = CollisionOption(false, 1u, nullptr),
87  CollisionResult* result = nullptr) override;
88 
90  double distance(
91  CollisionGroup* group,
92  const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
93  DistanceResult* result = nullptr) override;
94 
96  double distance(
97  CollisionGroup* group1,
98  CollisionGroup* group2,
99  const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
100  DistanceResult* result = nullptr) override;
101 
102 protected:
105 
106  // Documentation inherited
107  std::unique_ptr<CollisionObject> createCollisionObject(
108  const dynamics::ShapeFrame* shapeFrame) override;
109 
110  // Documentation inherited
111  void refreshCollisionObject(CollisionObject* object) override;
112 
113  dWorldID getOdeWorldId() const;
114 
115 protected:
117  dWorldID mWorldId;
118 
119 private:
121 
122 private:
125 };
126 
127 } // namespace collision
128 } // namespace dart
129 
130 #endif // DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
const CollisionOption & option
Collision option of DART.
Definition: FCLCollisionDetector.cpp:154
CollisionResult * result
Collision result of DART.
Definition: FCLCollisionDetector.cpp:157
#define MAX_COLLIDE_RETURNS
Definition: OdeCollisionDetector.hpp:40
Definition: CollisionDetector.hpp:56
virtual std::unique_ptr< CollisionGroup > createCollisionGroup()=0
Create a collision group.
Definition: CollisionGroup.hpp:51
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:124
std::unique_ptr< CollisionObject > createCollisionObject(const dynamics::ShapeFrame *shapeFrame) override
Create CollisionObject.
Definition: OdeCollisionDetector.cpp:233
static const std::string & getStaticType()
Get collision detector type for this class.
Definition: OdeCollisionDetector.cpp:142
virtual ~OdeCollisionDetector()
Constructor.
Definition: OdeCollisionDetector.cpp:120
const std::string & getType() const override
Return collision detection engine type as a std::string.
Definition: OdeCollisionDetector.cpp:136
dWorldID mWorldId
Top-level world for all bodies.
Definition: OdeCollisionDetector.hpp:117
dWorldID getOdeWorldId() const
Definition: OdeCollisionDetector.cpp:251
std::shared_ptr< CollisionDetector > cloneWithoutCollisionObjects() override
Create a clone of this CollisionDetector.
Definition: OdeCollisionDetector.cpp:130
dContactGeom contactCollisions[250]
Definition: OdeCollisionDetector.hpp:123
void refreshCollisionObject(CollisionObject *object) override
Update the collision geometry of a ShapeFrame.
Definition: OdeCollisionDetector.cpp:241
static std::shared_ptr< OdeCollisionDetector > create()
Definition: OdeCollisionDetector.cpp:113
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:155
std::unique_ptr< CollisionGroup > createCollisionGroup() override
Create a collision group.
Definition: OdeCollisionDetector.cpp:149
dGeomID createOdeCollisionGeometry(const dynamics::ConstShapePtr &shape)
double distance(CollisionGroup *group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
Definition: OdeCollisionDetector.cpp:196
OdeCollisionDetector()
Constructor.
Definition: OdeCollisionDetector.cpp:219
Definition: OdeCollisionObject.hpp:49
Helper class to register a object creator function to the Singleton.
Definition: Factory.hpp:121
Definition: ShapeFrame.hpp:164
std::shared_ptr< const Shape > ConstShapePtr
Definition: SmartPointer.hpp:81
Definition: BulletCollisionDetector.cpp:63
Definition: CollisionOption.hpp:45
Definition: DistanceOption.hpp:45
Definition: DistanceResult.hpp:47
Definition: DARTCollide.cpp:82