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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Rigorous SAP collision manager. More...
#include <coal/broadphase/broadphase_SaP.h>
Classes | |
struct | EndPoint |
End point for an interval. More... | |
class | isNotValidPair |
Functor to help remove collision pairs no longer valid (i.e., should be culled away) More... | |
class | isUnregistered |
Functor to help unregister one object. More... | |
struct | SaPAABB |
SAP interval for one object. More... | |
struct | SaPPair |
A pair of objects that are not culling away and should further check collision. More... | |
Public Types | |
typedef BroadPhaseCollisionManager | Base |
Public Member Functions | |
SaPCollisionManager () | |
~SaPCollisionManager () | |
void | registerObjects (const std::vector< CollisionObject * > &other_objs) |
add objects to the manager More... | |
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... | |
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BroadPhaseCollisionManager () | |
virtual | ~BroadPhaseCollisionManager () |
virtual std::vector< CollisionObject * > | getObjects () const |
return the objects managed by the manager More... | |
Protected Member Functions | |
void | update_ (SaPAABB *updated_aabb) |
void | updateVelist () |
bool | distance_ (CollisionObject *obj, DistanceCallBackBase *callback, Scalar &min_dist) const |
bool | collide_ (CollisionObject *obj, CollisionCallBackBase *callback) const |
void | addToOverlapPairs (const SaPPair &p) |
void | removeFromOverlapPairs (const SaPPair &p) |
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bool | inTestedSet (CollisionObject *a, CollisionObject *b) const |
void | insertTestedSet (CollisionObject *a, CollisionObject *b) const |
Protected Attributes | |
EndPoint * | elist [3] |
End point list for x, y, z coordinates. More... | |
std::vector< EndPoint * > | velist [3] |
vector version of elist, for acceleration More... | |
std::list< SaPAABB * > | AABB_arr |
SAP interval list. More... | |
std::list< SaPPair > | overlap_pairs |
The pair of objects that should further check for collision. More... | |
int | optimal_axis |
std::map< CollisionObject *, SaPAABB * > | obj_aabb_map |
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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_ |
Rigorous SAP collision manager.
coal::SaPCollisionManager::SaPCollisionManager | ( | ) |
coal::SaPCollisionManager::~SaPCollisionManager | ( | ) |
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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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virtual |
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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protected |
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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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protected |
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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
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remove one object from the manager
Implements coal::BroadPhaseCollisionManager.
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add objects to the manager
Reimplemented from coal::BroadPhaseCollisionManager.
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protected |
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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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add one object to the manager
Implements coal::BroadPhaseCollisionManager.
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update the condition of manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
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.
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SAP interval list.
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End point list for x, y, z coordinates.
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protected |
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protected |
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The pair of objects that should further check for collision.
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vector version of elist, for acceleration