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

Simple SAP collision manager. More...

#include <coal/broadphase/broadphase_SSaP.h>

Inheritance diagram for coal::SSaPCollisionManager:
Collaboration diagram for coal::SSaPCollisionManager:

Public Types

typedef BroadPhaseCollisionManager Base
 

Public Member Functions

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

Protected Member Functions

bool checkColl (typename std::vector< CollisionObject * >::const_iterator pos_start, typename std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject *obj, CollisionCallBackBase *callback) const
 check collision between one object and a list of objects, return value is whether stop is possible More...
 
bool checkDis (typename std::vector< CollisionObject * >::const_iterator pos_start, typename std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject *obj, DistanceCallBackBase *callback, Scalar &min_dist) const
 check distance between one object and a list of objects, return value is whether stop is possible More...
 
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
 

Static Protected Member Functions

static int selectOptimalAxis (const std::vector< CollisionObject * > &objs_x, const std::vector< CollisionObject * > &objs_y, const std::vector< CollisionObject * > &objs_z, typename std::vector< CollisionObject * >::const_iterator &it_beg, typename std::vector< CollisionObject * >::const_iterator &it_end)
 

Protected Attributes

std::vector< CollisionObject * > objs_x
 Objects sorted according to lower x value. More...
 
std::vector< CollisionObject * > objs_y
 Objects sorted according to lower y value. More...
 
std::vector< CollisionObject * > objs_z
 Objects sorted according to lower z value. More...
 
bool setup_
 tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly 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

Simple SAP collision manager.

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

coal::SSaPCollisionManager::SSaPCollisionManager ( )

Member Function Documentation

◆ checkColl()

bool coal::SSaPCollisionManager::checkColl ( typename std::vector< CollisionObject * >::const_iterator  pos_start,
typename std::vector< CollisionObject * >::const_iterator  pos_end,
CollisionObject obj,
CollisionCallBackBase callback 
) const
protected

check collision between one object and a list of objects, return value is whether stop is possible

◆ checkDis()

bool coal::SSaPCollisionManager::checkDis ( typename std::vector< CollisionObject * >::const_iterator  pos_start,
typename std::vector< CollisionObject * >::const_iterator  pos_end,
CollisionObject obj,
DistanceCallBackBase callback,
Scalar min_dist 
) const
protected

check distance between one object and a list of objects, return value is whether stop is possible

◆ clear()

void coal::SSaPCollisionManager::clear ( )
virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [1/3]

void coal::SSaPCollisionManager::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::SSaPCollisionManager::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::SSaPCollisionManager::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::SSaPCollisionManager::collide_ ( CollisionObject obj,
CollisionCallBackBase callback 
) const
protected

◆ distance() [1/3]

void coal::SSaPCollisionManager::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::SSaPCollisionManager::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::SSaPCollisionManager::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::SSaPCollisionManager::distance_ ( CollisionObject obj,
DistanceCallBackBase callback,
Scalar min_dist 
) const
protected

◆ empty()

bool coal::SSaPCollisionManager::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::SSaPCollisionManager::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::SSaPCollisionManager::registerObject ( CollisionObject obj)
virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

◆ selectOptimalAxis()

static int coal::SSaPCollisionManager::selectOptimalAxis ( const std::vector< CollisionObject * > &  objs_x,
const std::vector< CollisionObject * > &  objs_y,
const std::vector< CollisionObject * > &  objs_z,
typename std::vector< CollisionObject * >::const_iterator &  it_beg,
typename std::vector< CollisionObject * >::const_iterator &  it_end 
)
staticprotected

◆ setup()

void coal::SSaPCollisionManager::setup ( )
virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

◆ size()

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

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ unregisterObject()

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

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

◆ update()

virtual void coal::SSaPCollisionManager::update ( )
virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

Member Data Documentation

◆ objs_x

std::vector<CollisionObject*> coal::SSaPCollisionManager::objs_x
protected

Objects sorted according to lower x value.

◆ objs_y

std::vector<CollisionObject*> coal::SSaPCollisionManager::objs_y
protected

Objects sorted according to lower y value.

◆ objs_z

std::vector<CollisionObject*> coal::SSaPCollisionManager::objs_z
protected

Objects sorted according to lower z value.

◆ setup_

bool coal::SSaPCollisionManager::setup_
protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly


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