coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
coal::DynamicAABBTreeArrayCollisionManager Class Reference

#include <coal/broadphase/broadphase_dynamic_AABB_tree_array.h>

Inheritance diagram for coal::DynamicAABBTreeArrayCollisionManager:
Collaboration diagram for coal::DynamicAABBTreeArrayCollisionManager:

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...
 
- Public Member Functions inherited from coal::BroadPhaseCollisionManager
 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

- Protected Member Functions inherited from coal::BroadPhaseCollisionManager
bool inTestedSet (CollisionObject *a, CollisionObject *b) const
 
void insertTestedSet (CollisionObject *a, CollisionObject *b) const
 
- Protected Attributes inherited from coal::BroadPhaseCollisionManager
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_
 

Member Typedef Documentation

◆ Base

◆ DynamicAABBNode

◆ DynamicAABBTable

Constructor & Destructor Documentation

◆ DynamicAABBTreeArrayCollisionManager()

coal::DynamicAABBTreeArrayCollisionManager::DynamicAABBTreeArrayCollisionManager ( )

Member Function Documentation

◆ clear()

void coal::DynamicAABBTreeArrayCollisionManager::clear ( )
virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [1/3]

void coal::DynamicAABBTreeArrayCollisionManager::collide ( BroadPhaseCollisionManager other_manager_,
CollisionCallBackBase callback 
) const
virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [2/3]

void coal::DynamicAABBTreeArrayCollisionManager::collide ( CollisionCallBackBase callback) const
virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements coal::BroadPhaseCollisionManager.

◆ collide() [3/3]

void coal::DynamicAABBTreeArrayCollisionManager::collide ( CollisionObject obj,
CollisionCallBackBase callback 
) const
virtual

perform collision test between one object and all the objects belonging to the manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [1/3]

void coal::DynamicAABBTreeArrayCollisionManager::distance ( BroadPhaseCollisionManager other_manager_,
DistanceCallBackBase callback 
) const
virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [2/3]

void coal::DynamicAABBTreeArrayCollisionManager::distance ( CollisionObject obj,
DistanceCallBackBase callback 
) const
virtual

perform distance computation between one object and all the objects belonging to the manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [3/3]

void coal::DynamicAABBTreeArrayCollisionManager::distance ( DistanceCallBackBase callback) const
virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements coal::BroadPhaseCollisionManager.

◆ empty()

bool coal::DynamicAABBTreeArrayCollisionManager::empty ( ) const
virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

◆ getObjects() [1/3]

virtual std::vector<CollisionObject*> coal::BroadPhaseCollisionManager::getObjects
inline

return the objects managed by the manager

◆ getObjects() [2/3]

void coal::DynamicAABBTreeArrayCollisionManager::getObjects ( std::vector< CollisionObject * > &  objs) const
virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ getObjects() [3/3]

virtual void coal::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ getTree()

const detail::implementation_array::HierarchyTree<AABB>& coal::DynamicAABBTreeArrayCollisionManager::getTree ( ) const

◆ registerObject()

void coal::DynamicAABBTreeArrayCollisionManager::registerObject ( CollisionObject obj)
virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

◆ registerObjects()

void coal::DynamicAABBTreeArrayCollisionManager::registerObjects ( const std::vector< CollisionObject * > &  other_objs)
virtual

add objects to the manager

Reimplemented from coal::BroadPhaseCollisionManager.

◆ setup()

void coal::DynamicAABBTreeArrayCollisionManager::setup ( )
virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

◆ size()

size_t coal::DynamicAABBTreeArrayCollisionManager::size ( ) const
virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ unregisterObject()

void coal::DynamicAABBTreeArrayCollisionManager::unregisterObject ( CollisionObject obj)
virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [1/3]

virtual void coal::DynamicAABBTreeArrayCollisionManager::update ( )
virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [2/3]

void coal::DynamicAABBTreeArrayCollisionManager::update ( CollisionObject updated_obj)
virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

◆ update() [3/3]

void coal::DynamicAABBTreeArrayCollisionManager::update ( const std::vector< CollisionObject * > &  updated_objs)
virtual

update the manager by explicitly given the set of objects update

Reimplemented from coal::BroadPhaseCollisionManager.

Member Data Documentation

◆ max_tree_nonbalanced_level

int coal::DynamicAABBTreeArrayCollisionManager::max_tree_nonbalanced_level

◆ octree_as_geometry_collide

bool coal::DynamicAABBTreeArrayCollisionManager::octree_as_geometry_collide

◆ octree_as_geometry_distance

bool coal::DynamicAABBTreeArrayCollisionManager::octree_as_geometry_distance

◆ tree_incremental_balance_pass

int coal::DynamicAABBTreeArrayCollisionManager::tree_incremental_balance_pass

◆ tree_init_level

int coal::DynamicAABBTreeArrayCollisionManager::tree_init_level

◆ tree_topdown_balance_threshold

int* coal::DynamicAABBTreeArrayCollisionManager::tree_topdown_balance_threshold {nullptr}

◆ tree_topdown_level

int* coal::DynamicAABBTreeArrayCollisionManager::tree_topdown_level {nullptr}

The documentation for this class was generated from the following file: