collision.h

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#ifndef COAL_COLLISION_H
#define COAL_COLLISION_H

#include "coal/data_types.h"
#include "coal/collision_object.h"
#include "coal/collision_data.h"
#include "coal/collision_func_matrix.h"
#include "coal/timings.h"

namespace coal {

COAL_DLLAPI std::size_t collide(const CollisionObject* o1,
 const CollisionObject* o2,
 const CollisionRequest& request,
 CollisionResult& result);

COAL_DLLAPI std::size_t collide(const CollisionGeometry* o1,
 const Transform3s& tf1,
 const CollisionGeometry* o2,
 const Transform3s& tf2,
 const CollisionRequest& request,
 CollisionResult& result);

class COAL_DLLAPI ComputeCollision {
 public:
 ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);

 std::size_t operator()(const Transform3s& tf1, const Transform3s& tf2,
 const CollisionRequest& request,
 CollisionResult& result) const;

 bool operator==(const ComputeCollision& other) const {
 return o1 == other.o1 && o2 == other.o2 && solver == other.solver;
 }

 bool operator!=(const ComputeCollision& other) const {
 return !(*this == other);
 }

 virtual ~ComputeCollision() {};

 protected:
 // These pointers are made mutable to let the derived classes to update
 // their values when updating the collision geometry (e.g. creating a new
 // one). This feature should be used carefully to avoid any mis usage (e.g,
 // changing the type of the collision geometry should be avoided).
 mutable const CollisionGeometry* o1;
 mutable const CollisionGeometry* o2;

 mutable GJKSolver solver;

 CollisionFunctionMatrix::CollisionFunc func;
 bool swap_geoms;

 virtual std::size_t run(const Transform3s& tf1, const Transform3s& tf2,
 const CollisionRequest& request,
 CollisionResult& result) const;

 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace coal

#endif