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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#include <coal/broadphase/broadphase_dynamic_AABB_tree_array.h>
Public Types | |
typedef BroadPhaseCollisionManager | Base |
using | DynamicAABBNode = detail::implementation_array::NodeBase< AABB > |
using | DynamicAABBTable = std::unordered_map< CollisionObject *, size_t > |
Public Member Functions | |
DynamicAABBTreeArrayCollisionManager () | |
void | registerObjects (const std::vector< CollisionObject * > &other_objs) |
add objects to the manager More... | |
void | registerObject (CollisionObject *obj) |
add one object to the manager More... | |
void | unregisterObject (CollisionObject *obj) |
remove one object from the manager More... | |
void | setup () |
initialize the manager, related with the specific type of manager More... | |
virtual void | update () |
update the condition of manager More... | |
void | update (CollisionObject *updated_obj) |
update the manager by explicitly given the object updated More... | |
void | update (const std::vector< CollisionObject * > &updated_objs) |
update the manager by explicitly given the set of objects update More... | |
void | clear () |
clear the manager More... | |
void | getObjects (std::vector< CollisionObject * > &objs) const |
return the objects managed by the manager More... | |
void | collide (CollisionObject *obj, CollisionCallBackBase *callback) const |
perform collision test between one object and all the objects belonging to the manager More... | |
void | distance (CollisionObject *obj, DistanceCallBackBase *callback) const |
perform distance computation between one object and all the objects belonging to the manager More... | |
void | collide (CollisionCallBackBase *callback) const |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More... | |
void | distance (DistanceCallBackBase *callback) const |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More... | |
void | collide (BroadPhaseCollisionManager *other_manager_, CollisionCallBackBase *callback) const |
perform collision test with objects belonging to another manager More... | |
void | distance (BroadPhaseCollisionManager *other_manager_, DistanceCallBackBase *callback) const |
perform distance test with objects belonging to another manager More... | |
bool | empty () const |
whether the manager is empty More... | |
size_t | size () const |
the number of objects managed by the manager More... | |
const detail::implementation_array::HierarchyTree< AABB > & | getTree () const |
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... | |
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BroadPhaseCollisionManager () | |
virtual | ~BroadPhaseCollisionManager () |
virtual std::vector< CollisionObject * > | getObjects () const |
return the objects managed by the manager More... | |
Public Attributes | |
int | max_tree_nonbalanced_level |
int | tree_incremental_balance_pass |
int * | tree_topdown_balance_threshold {nullptr} |
int * | tree_topdown_level {nullptr} |
int | tree_init_level |
bool | octree_as_geometry_collide |
bool | octree_as_geometry_distance |
Additional Inherited Members | |
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bool | inTestedSet (CollisionObject *a, CollisionObject *b) const |
void | insertTestedSet (CollisionObject *a, CollisionObject *b) const |
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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_ |
using coal::DynamicAABBTreeArrayCollisionManager::DynamicAABBNode = detail::implementation_array::NodeBase<AABB> |
using coal::DynamicAABBTreeArrayCollisionManager::DynamicAABBTable = std::unordered_map<CollisionObject*, size_t> |
coal::DynamicAABBTreeArrayCollisionManager::DynamicAABBTreeArrayCollisionManager | ( | ) |
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clear the manager
Implements coal::BroadPhaseCollisionManager.
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perform collision test with objects belonging to another manager
Implements coal::BroadPhaseCollisionManager.
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perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
Implements coal::BroadPhaseCollisionManager.
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virtual |
perform collision test between one object and all the objects belonging to the manager
Implements coal::BroadPhaseCollisionManager.
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perform distance test with objects belonging to another manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
perform distance computation between one object and all the objects belonging to the manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
Implements coal::BroadPhaseCollisionManager.
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whether the manager is empty
Implements coal::BroadPhaseCollisionManager.
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return the objects managed by the manager
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return the objects managed by the manager
Implements coal::BroadPhaseCollisionManager.
virtual void coal::BroadPhaseCollisionManager::getObjects |
return the objects managed by the manager
const detail::implementation_array::HierarchyTree<AABB>& coal::DynamicAABBTreeArrayCollisionManager::getTree | ( | ) | const |
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add one object to the manager
Implements coal::BroadPhaseCollisionManager.
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add objects to the manager
Reimplemented from coal::BroadPhaseCollisionManager.
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initialize the manager, related with the specific type of manager
Implements coal::BroadPhaseCollisionManager.
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the number of objects managed by the manager
Implements coal::BroadPhaseCollisionManager.
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remove one object from the manager
Implements coal::BroadPhaseCollisionManager.
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update the condition of manager
Implements coal::BroadPhaseCollisionManager.
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update the manager by explicitly given the object updated
Reimplemented from coal::BroadPhaseCollisionManager.
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update the manager by explicitly given the set of objects update
Reimplemented from coal::BroadPhaseCollisionManager.
int coal::DynamicAABBTreeArrayCollisionManager::max_tree_nonbalanced_level |
bool coal::DynamicAABBTreeArrayCollisionManager::octree_as_geometry_collide |
bool coal::DynamicAABBTreeArrayCollisionManager::octree_as_geometry_distance |
int coal::DynamicAABBTreeArrayCollisionManager::tree_incremental_balance_pass |
int coal::DynamicAABBTreeArrayCollisionManager::tree_init_level |
int* coal::DynamicAABBTreeArrayCollisionManager::tree_topdown_balance_threshold {nullptr} |
int* coal::DynamicAABBTreeArrayCollisionManager::tree_topdown_level {nullptr} |