CollisionFilter.hpp

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#ifndef DART_COLLISION_COLLISIONFILTER_HPP_
#define DART_COLLISION_COLLISIONFILTER_HPP_

#include "dart/common/Deprecated.hpp"
#include "dart/dynamics/detail/UnorderedPairs.hpp"

namespace dart {

namespace dynamics {
class BodyNode;
} // namespace dynamics

namespace collision {

class CollisionObject;

class CollisionFilter
{
public:
  virtual ~CollisionFilter();

  DART_DEPRECATED(6.3)
  bool needCollision(
      const CollisionObject* object1, const CollisionObject* object2) const;

  virtual bool ignoresCollision(
      const CollisionObject* object1, const CollisionObject* object2) const = 0;
};

class CompositeCollisionFilter : public CollisionFilter
{
public:
  void addCollisionFilter(const CollisionFilter* filter);

  void removeCollisionFilter(const CollisionFilter* filter);

  void removeAllCollisionFilters();

  // Documentation inherited
  bool ignoresCollision(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;

protected:
  std::unordered_set<const CollisionFilter*> mFilters;
};

class BodyNodeCollisionFilter : public CollisionFilter
{
public:
  void addBodyNodePairToBlackList(
      const dynamics::BodyNode* bodyNode1, const dynamics::BodyNode* bodyNode2);

  void removeBodyNodePairFromBlackList(
      const dynamics::BodyNode* bodyNode1, const dynamics::BodyNode* bodyNode2);

  void removeAllBodyNodePairsFromBlackList();

  // Documentation inherited
  bool ignoresCollision(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;

private:
  bool areAdjacentBodies(
      const dynamics::BodyNode* bodyNode1,
      const dynamics::BodyNode* bodyNode2) const;

  detail::UnorderedPairs<dynamics::BodyNode> mBodyNodeBlackList;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_COLLISIONFILTER_HPP_