Collision manager based on interval tree. More...

#include <coal/broadphase/broadphase_interval_tree.h>

Inheritance diagram for coal::IntervalTreeCollisionManager:

Collaboration diagram for coal::IntervalTreeCollisionManager:

[legend]

Classes
struct	EndPoint
	SAP end point. More...

struct	SAPInterval
	Extention interval tree's interval to SAP interval, adding more information. More...

Public Types
typedef BroadPhaseCollisionManager	Base

Public Member Functions
	IntervalTreeCollisionManager ()

	~IntervalTreeCollisionManager ()

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

void	unregisterObject (CollisionObject *obj)
	add one object to 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...

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 void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager More...

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

Protected Member Functions
bool	checkColl (typename std::deque< detail::SimpleInterval * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval * >::const_iterator pos_end, CollisionObject obj, CollisionCallBackBase callback) const

bool	checkDist (typename std::deque< detail::SimpleInterval * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval * >::const_iterator pos_end, CollisionObject obj, DistanceCallBackBase callback, Scalar &min_dist) const

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, Scalar &min_dist) const

Protected Member Functions inherited from coal::BroadPhaseCollisionManager
bool	inTestedSet (CollisionObject a, CollisionObject b) const

void	insertTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
std::vector< EndPoint >	endpoints [3]
	vector stores all the end points More...

detail::IntervalTree *	interval_trees [3]
	interval tree manages the intervals More...

std::map< CollisionObject , SAPInterval >	obj_interval_maps [3]

bool	setup_
	tag for whether the interval tree is maintained suitably More...

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_

Detailed Description

Collision manager based on interval tree.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager coal::IntervalTreeCollisionManager::Base

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

coal::IntervalTreeCollisionManager::IntervalTreeCollisionManager ( )

◆ ~IntervalTreeCollisionManager()

coal::IntervalTreeCollisionManager::~IntervalTreeCollisionManager ( )

Member Function Documentation

◆ checkColl()

bool coal::IntervalTreeCollisionManager::checkColl	(	typename std::deque< detail::SimpleInterval * >::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval * >::const_iterator	pos_end,
		CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

◆ checkDist()

bool coal::IntervalTreeCollisionManager::checkDist	(	typename std::deque< detail::SimpleInterval * >::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval * >::const_iterator	pos_end,
		CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		Scalar &	min_dist
	)		const

protected

◆ clear()

void coal::IntervalTreeCollisionManager::clear ( )

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [1/3]

void coal::IntervalTreeCollisionManager::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::IntervalTreeCollisionManager::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::IntervalTreeCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

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

Implements coal::BroadPhaseCollisionManager.

◆ collide_()

bool coal::IntervalTreeCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

◆ distance() [1/3]

void coal::IntervalTreeCollisionManager::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::IntervalTreeCollisionManager::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::IntervalTreeCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

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

Implements coal::BroadPhaseCollisionManager.

◆ distance_()

bool coal::IntervalTreeCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		Scalar &	min_dist
	)		const

protected

◆ empty()

bool coal::IntervalTreeCollisionManager::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::IntervalTreeCollisionManager::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

◆ registerObject()

void coal::IntervalTreeCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

◆ setup()

void coal::IntervalTreeCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

◆ size()

size_t coal::IntervalTreeCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ unregisterObject()

void coal::IntervalTreeCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [1/3]

virtual void coal::IntervalTreeCollisionManager::update ( )

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [2/3]

void coal::IntervalTreeCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

◆ update() [3/3]

void coal::IntervalTreeCollisionManager::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

◆ endpoints

std::vector<EndPoint> coal::IntervalTreeCollisionManager::endpoints[3]

protected

vector stores all the end points

◆ interval_trees

detail::IntervalTree* coal::IntervalTreeCollisionManager::interval_trees[3]

protected

interval tree manages the intervals

◆ obj_interval_maps

std::map<CollisionObject*, SAPInterval*> coal::IntervalTreeCollisionManager::obj_interval_maps[3]

protected

◆ setup_

bool coal::IntervalTreeCollisionManager::setup_

protected

tag for whether the interval tree is maintained suitably

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

include/coal/broadphase/broadphase_interval_tree.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

◆ ~IntervalTreeCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDist()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ endpoints

◆ interval_trees

◆ obj_interval_maps

◆ setup_