DART  6.7.3
DARTCollisionDetector.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2019, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
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  // Documentation inherited
99  void refreshCollisionObject(CollisionObject* object) override;
100 
101 private:
103 };
104 
105 } // namespace collision
106 } // namespace dart
107 
108 #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:51
Definition: CollisionObject.hpp:45
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:102
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
void refreshCollisionObject(CollisionObject *object) override
Update the collision geometry of a ShapeFrame.
Definition: DARTCollisionDetector.cpp:309
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:121
Definition: ShapeFrame.hpp:164
Definition: BulletCollisionDetector.cpp:63
Definition: CollisionOption.hpp:45
Definition: DistanceOption.hpp:45
Definition: DistanceResult.hpp:47