coal
3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...
#include <coal/broadphase/broadphase_collision_manager.h>
Public Member Functions | |
BroadPhaseCollisionManager () | |
virtual | ~BroadPhaseCollisionManager () |
virtual void | registerObjects (const std::vector< CollisionObject * > &other_objs) |
add objects to the manager More... | |
virtual void | registerObject (CollisionObject *obj)=0 |
add one object to the manager More... | |
virtual void | unregisterObject (CollisionObject *obj)=0 |
remove one object from the manager More... | |
virtual void | setup ()=0 |
initialize the manager, related with the specific type of manager More... | |
virtual void | update ()=0 |
update the condition of manager More... | |
virtual void | update (CollisionObject *updated_obj) |
update the manager by explicitly given the object updated More... | |
virtual void | update (const std::vector< CollisionObject * > &updated_objs) |
update the manager by explicitly given the set of objects update More... | |
virtual void | clear ()=0 |
clear the manager More... | |
virtual void | getObjects (std::vector< CollisionObject * > &objs) const =0 |
return the objects managed by the manager More... | |
virtual std::vector< CollisionObject * > | getObjects () const |
return the objects managed by the manager More... | |
virtual void | collide (CollisionObject *obj, CollisionCallBackBase *callback) const =0 |
perform collision test between one object and all the objects belonging to the manager More... | |
virtual void | distance (CollisionObject *obj, DistanceCallBackBase *callback) const =0 |
perform distance computation between one object and all the objects belonging to the manager More... | |
virtual void | collide (CollisionCallBackBase *callback) const =0 |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More... | |
virtual void | distance (DistanceCallBackBase *callback) const =0 |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More... | |
virtual void | collide (BroadPhaseCollisionManager *other_manager, CollisionCallBackBase *callback) const =0 |
perform collision test with objects belonging to another manager More... | |
virtual void | distance (BroadPhaseCollisionManager *other_manager, DistanceCallBackBase *callback) const =0 |
perform distance test with objects belonging to another manager More... | |
virtual bool | empty () const =0 |
whether the manager is empty More... | |
virtual size_t | size () const =0 |
the number of objects managed by the manager More... | |
Protected Member Functions | |
bool | inTestedSet (CollisionObject *a, CollisionObject *b) const |
void | insertTestedSet (CollisionObject *a, CollisionObject *b) const |
Protected Attributes | |
std::set< std::pair< CollisionObject *, CollisionObject * > > | tested_set |
tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More... | |
bool | enable_tested_set_ |
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.
coal::BroadPhaseCollisionManager::BroadPhaseCollisionManager | ( | ) |
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virtual |
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pure virtual |
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pure virtual |
perform collision test with objects belonging to another manager
Implemented in coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
perform collision test between one object and all the objects belonging to the manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
perform distance test with objects belonging to another manager
Implemented in coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
perform distance computation between one object and all the objects belonging to the manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
whether the manager is empty
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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inlinevirtual |
return the objects managed by the manager
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pure virtual |
return the objects managed by the manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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protected |
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protected |
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pure virtual |
add one object to the manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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virtual |
add objects to the manager
Reimplemented in coal::SaPCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
initialize the manager, related with the specific type of manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
the number of objects managed by the manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
remove one object from the manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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pure virtual |
update the condition of manager
Implemented in coal::SSaPCollisionManager, coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, coal::DynamicAABBTreeCollisionManager, and coal::NaiveCollisionManager.
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virtual |
update the manager by explicitly given the object updated
Reimplemented in coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, and coal::DynamicAABBTreeCollisionManager.
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virtual |
update the manager by explicitly given the set of objects update
Reimplemented in coal::SpatialHashingCollisionManager< HashTable >, coal::SaPCollisionManager, coal::IntervalTreeCollisionManager, coal::DynamicAABBTreeArrayCollisionManager, and coal::DynamicAABBTreeCollisionManager.
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mutableprotected |
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mutableprotected |
tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms.