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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spatial hashing collision mananger More...
#include <coal/broadphase/broadphase_spatialhash.h>
Public Types | |
typedef BroadPhaseCollisionManager | Base |
Public Member Functions | |
SpatialHashingCollisionManager (Scalar cell_size, const Vec3s &scene_min, const Vec3s &scene_max, unsigned int default_table_size=1000) | |
~SpatialHashingCollisionManager () | |
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 ot 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 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... | |
Static Public Member Functions | |
static void | computeBound (std::vector< CollisionObject * > &objs, Vec3s &l, Vec3s &u) |
compute the bound for the environent More... | |
Protected Member Functions | |
bool | collide_ (CollisionObject *obj, CollisionCallBackBase *callback) const |
perform collision test between one object and all the objects belonging to the manager More... | |
bool | distance_ (CollisionObject *obj, DistanceCallBackBase *callback, Scalar &min_dist) const |
perform distance computation between one object and all the objects belonging ot the manager More... | |
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bool | inTestedSet (CollisionObject *a, CollisionObject *b) const |
void | insertTestedSet (CollisionObject *a, CollisionObject *b) const |
Protected Attributes | |
std::list< CollisionObject * > | objs |
all objects in the scene More... | |
std::list< CollisionObject * > | objs_partially_penetrating_scene_limit |
objects partially penetrating (not totally inside nor outside) the scene limit are in another list More... | |
std::list< CollisionObject * > | objs_outside_scene_limit |
objects outside the scene limit are in another list More... | |
AABB | scene_limit |
the size of the scene More... | |
std::map< CollisionObject *, AABB > | obj_aabb_map |
store the map between objects and their aabbs. will make update more convenient More... | |
HashTable * | hash_table |
objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table More... | |
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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_ |
spatial hashing collision mananger
typedef BroadPhaseCollisionManager coal::SpatialHashingCollisionManager< HashTable >::Base |
coal::SpatialHashingCollisionManager< HashTable >::SpatialHashingCollisionManager | ( | Scalar | cell_size, |
const Vec3s & | scene_min, | ||
const Vec3s & | scene_max, | ||
unsigned int | default_table_size = 1000 |
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coal::SpatialHashingCollisionManager< HashTable >::~SpatialHashingCollisionManager |
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virtual |
clear the manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
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 |
perform collision test between one object and all the objects belonging to the manager
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static |
compute the bound for the environent
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virtual |
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 ot 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 |
perform distance computation between one object and all the objects belonging ot the manager
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virtual |
whether the manager is empty
Implements coal::BroadPhaseCollisionManager.
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inline |
return the objects managed by the manager
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virtual |
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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virtual |
add one object to the manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
initialize the manager, related with the specific type of manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
the number of objects managed by the manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
remove one object from the manager
Implements coal::BroadPhaseCollisionManager.
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virtual |
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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virtual |
update the manager by explicitly given the set of objects update
Reimplemented from coal::BroadPhaseCollisionManager.
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protected |
objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table
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protected |
store the map between objects and their aabbs. will make update more convenient
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protected |
all objects in the scene
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protected |
objects outside the scene limit are in another list
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protected |
objects partially penetrating (not totally inside nor outside) the scene limit are in another list
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protected |
the size of the scene