BodyCollisionDetector.h

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#ifndef CNOID_BODY_BODY_COLLISION_DETECTOR_H
#define CNOID_BODY_BODY_COLLISION_DETECTOR_H
 
#include <cnoid/CollisionDetector>
#include "exportdecl.h"
 
namespace cnoid {
 
class Body;
class Link;
 
class CNOID_EXPORT BodyCollisionDetector
{
public:
    BodyCollisionDetector();
    virtual ~BodyCollisionDetector();
 
    void setCollisionDetector(CollisionDetector* collisionDetector);
    CollisionDetector* collisionDetector();
 
    void clearBodies();
 
    void enableGeometryHandleMap(bool on);
    stdx::optional<CollisionDetector::GeometryHandle> findGeometryHandle(Link* link);
 
    void addBody(Body* body, bool isSelfCollisionDetectionEnabled);
    void addBody(Body* body, bool isSelfCollisionDetectionEnabled,
                 std::function<Referenced*(Link* link, CollisionDetector::GeometryHandle geometry)> getObjectAssociatedWithLink);
    bool makeReady();
 
    void updatePositions();
    void updatePositions(std::function<void(Referenced* object, Isometry3*& out_position)> positionQuery);
 
    void detectCollisions(std::function<void(const CollisionPair& collisionPair)> callback);
 
private:
    class Impl;
    Impl* impl;
};
 
}
 
#endif