bullet_cast_bvh_manager.h

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#ifndef TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
#define TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
 
#include <tesseract_collision/bullet/bullet_utils.h>
#include <tesseract_collision/core/continuous_contact_manager.h>
#include <tesseract_collision/bullet/tesseract_collision_configuration.h>
 
namespace tesseract_collision::tesseract_collision_bullet
{
class BulletCastBVHManager : public ContinuousContactManager
{
public:
  using Ptr = std::shared_ptr<BulletCastBVHManager>;
  using ConstPtr = std::shared_ptr<const BulletCastBVHManager>;
  using UPtr = std::unique_ptr<BulletCastBVHManager>;
  using ConstUPtr = std::unique_ptr<const BulletCastBVHManager>;
 
  BulletCastBVHManager(std::string name = "BulletCastBVHManager",
                       TesseractCollisionConfigurationInfo config_info = TesseractCollisionConfigurationInfo());
  ~BulletCastBVHManager() override;
  BulletCastBVHManager(const BulletCastBVHManager&) = delete;
  BulletCastBVHManager& operator=(const BulletCastBVHManager&) = delete;
  BulletCastBVHManager(BulletCastBVHManager&&) = delete;
  BulletCastBVHManager& operator=(BulletCastBVHManager&&) = delete;
 
  std::string getName() const override final;
 
  ContinuousContactManager::UPtr clone() const override final;
 
  bool addCollisionObject(const std::string& name,
                          const int& mask_id,
                          const CollisionShapesConst& shapes,
                          const tesseract_common::VectorIsometry3d& shape_poses,
                          bool enabled = true) override final;
 
  const CollisionShapesConst& getCollisionObjectGeometries(const std::string& name) const override final;
 
  const tesseract_common::VectorIsometry3d&
  getCollisionObjectGeometriesTransforms(const std::string& name) const override final;
 
  bool hasCollisionObject(const std::string& name) const override final;
 
  bool removeCollisionObject(const std::string& name) override final;
 
  bool enableCollisionObject(const std::string& name) override final;
 
  bool disableCollisionObject(const std::string& name) override final;
 
  bool isCollisionObjectEnabled(const std::string& name) const override final;
 
  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose) override final;
 
  void setCollisionObjectsTransform(const std::vector<std::string>& names,
                                    const tesseract_common::VectorIsometry3d& poses) override final;
 
  void setCollisionObjectsTransform(const tesseract_common::TransformMap& transforms) override final;
 
  void setCollisionObjectsTransform(const std::string& name,
                                    const Eigen::Isometry3d& pose1,
                                    const Eigen::Isometry3d& pose2) override final;
 
  void setCollisionObjectsTransform(const std::vector<std::string>& names,
                                    const tesseract_common::VectorIsometry3d& pose1,
                                    const tesseract_common::VectorIsometry3d& pose2) override final;
 
  void setCollisionObjectsTransform(const tesseract_common::TransformMap& pose1,
                                    const tesseract_common::TransformMap& pose2) override final;
 
  const std::vector<std::string>& getCollisionObjects() const override final;
 
  void setActiveCollisionObjects(const std::vector<std::string>& names) override final;
 
  const std::vector<std::string>& getActiveCollisionObjects() const override final;
 
  void setCollisionMarginData(
      CollisionMarginData collision_margin_data,
      CollisionMarginOverrideType override_type = CollisionMarginOverrideType::REPLACE) override final;
 
  void setDefaultCollisionMarginData(double default_collision_margin) override final;
 
  void setPairCollisionMarginData(const std::string& name1,
                                  const std::string& name2,
                                  double collision_margin) override final;
 
  const CollisionMarginData& getCollisionMarginData() const override final;
 
  void setIsContactAllowedFn(IsContactAllowedFn fn) override final;
 
  IsContactAllowedFn getIsContactAllowedFn() const override final;
 
  void contactTest(ContactResultMap& collisions, const ContactRequest& request) override final;
 
  void addCollisionObject(const COW::Ptr& cow);
 
private:
  std::string name_;
  std::vector<std::string> active_;
  std::vector<std::string> collision_objects_;
  std::unique_ptr<btCollisionDispatcher> dispatcher_;
  btDispatcherInfo dispatch_info_;
  TesseractCollisionConfigurationInfo config_info_;
  TesseractCollisionConfiguration coll_config_;
  std::unique_ptr<btBroadphaseInterface> broadphase_;
  Link2Cow link2cow_;
  Link2Cow link2castcow_;
 
  ContactTestData contact_test_data_;
 
  TesseractOverlapFilterCallback broadphase_overlap_cb_;
 
  void onCollisionMarginDataChanged();
};
}  // namespace tesseract_collision::tesseract_collision_bullet
 
#endif  // TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H