CollisionFilter.hpp

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#ifndef DART_COLLISION_COLLISIONFILTER_HPP_
#define DART_COLLISION_COLLISIONFILTER_HPP_
 
#include "dart/common/Deprecated.hpp"
#include "dart/collision/detail/UnorderedPairs.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
}  // namespace dynamics
 
namespace collision {
 
class CollisionObject;
 
class CollisionFilter
{
public:
  DART_DEPRECATED(6.3)
  bool needCollision(
      const CollisionObject* object1, const CollisionObject* object2) const;
 
  virtual bool ignoresCollision(
      const CollisionObject* object1, const CollisionObject* object2) const = 0;
};
 
class CompositeCollisionFilter : public CollisionFilter
{
public:
  void addCollisionFilter(const CollisionFilter* filter);
 
  void removeCollisionFilter(const CollisionFilter* filter);
 
  void removeAllCollisionFilters();
 
  // Documentation inherited
  bool ignoresCollision(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;
 
protected:
  std::unordered_set<const CollisionFilter*> mFilters;
};
 
class BodyNodeCollisionFilter : public CollisionFilter
{
public:
  void addBodyNodePairToBlackList(
      const dynamics::BodyNode* bodyNode1,
      const dynamics::BodyNode* bodyNode2);
 
  void removeBodyNodePairFromBlackList(
      const dynamics::BodyNode* bodyNode1,
      const dynamics::BodyNode* bodyNode2);
 
  void removeAllBodyNodePairsFromBlackList();
 
  // Documentation inherited
  bool ignoresCollision(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;
 
private:
  bool areAdjacentBodies(const dynamics::BodyNode* bodyNode1,
                         const dynamics::BodyNode* bodyNode2) const;
 
  detail::UnorderedPairs<dynamics::BodyNode> mBodyNodeBlackList;
};
 
} // namespace collision
} // namespace dart
 
#endif  // DART_COLLISION_COLLISIONFILTER_HPP_