OdeCollisionDetector.hpp

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#ifndef DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
#define DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_
 
#include <ode/ode.h>
 
#include "dart/collision/CollisionDetector.hpp"
 
#define MAX_COLLIDE_RETURNS 250
 
namespace dart {
namespace collision {
 
class OdeCollisionDetector : public CollisionDetector
{
public:
  using CollisionDetector::createCollisionGroup;
 
  friend class OdeCollisionObject;
 
  static std::shared_ptr<OdeCollisionDetector> create();
 
  virtual ~OdeCollisionDetector();
 
  // Documentation inherited
  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects() 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;
 
  double distance(
      CollisionGroup* group,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;
 
  double distance(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;
 
protected:
  OdeCollisionDetector();
 
  // Documentation inherited
  std::unique_ptr<CollisionObject> createCollisionObject(
      const dynamics::ShapeFrame* shapeFrame) override;
 
  // Documentation inherited
  void refreshCollisionObject(CollisionObject* object) override;
 
  dWorldID getOdeWorldId() const;
 
protected:
  dWorldID mWorldId;
 
private:
  dGeomID createOdeCollisionGeometry(const dynamics::ConstShapePtr& shape);
 
private:
  dContactGeom contactCollisions[MAX_COLLIDE_RETURNS];
  static Registrar<OdeCollisionDetector> mRegistrar;
};
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_ODE_ODECOLLISIONDETECTOR_HPP_