bullet_bvh_manager.h

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/* Authors: Levi Armstrong, Jens Petit */
 
#pragma once
 
#include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
#include <moveit/macros/class_forward.h>
 
namespace collision_detection_bullet
{
MOVEIT_CLASS_FORWARD(BulletBVHManager);
 
class BulletBVHManager
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  BulletBVHManager();
 
  virtual ~BulletBVHManager();
 
  BulletBVHManagerPtr clone() const;
 
  bool hasCollisionObject(const std::string& name) const;
 
  bool removeCollisionObject(const std::string& name);
 
  bool enableCollisionObject(const std::string& name);
 
  bool disableCollisionObject(const std::string& name);
 
  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
 
  void setActiveCollisionObjects(const std::vector<std::string>& names);
 
  const std::vector<std::string>& getActiveCollisionObjects() const;
 
  void setContactDistanceThreshold(double contact_distance);
 
  double getContactDistanceThreshold() const;
 
  virtual void contactTest(collision_detection::CollisionResult& collisions,
                           const collision_detection::CollisionRequest& req,
                           const collision_detection::AllowedCollisionMatrix* acm, bool self) = 0;
 
  virtual void addCollisionObject(const CollisionObjectWrapperPtr& cow) = 0;
 
  const std::map<std::string, CollisionObjectWrapperPtr>& getCollisionObjects() const;
 
protected:
  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
 
  std::vector<std::string> active_;
 
  double contact_distance_;
 
  std::unique_ptr<btCollisionDispatcher> dispatcher_;
 
  btDispatcherInfo dispatch_info_;
 
  btDefaultCollisionConfiguration coll_config_;
 
  std::unique_ptr<btBroadphaseInterface> broadphase_;
 
  BroadphaseFilterCallback filter_callback_;
};
}  // namespace collision_detection_bullet