spatial hashing collision mananger More...

#include <coal/broadphase/broadphase_spatialhash.h>

Inheritance diagram for coal::SpatialHashingCollisionManager< HashTable >:

Collaboration diagram for coal::SpatialHashingCollisionManager< HashTable >:

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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

void	unregisterObject (CollisionObject *obj)
	remove one object from the manager

void	setup ()
	initialize the manager, related with the specific type of manager

virtual void	update ()
	update the condition of manager

void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated

void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update

void	clear ()
	clear the manager

void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager

void	collide (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager

void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging ot the manager

void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e, N^2 self collision)

void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

void	collide (BroadPhaseCollisionManager other_manager, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager

void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const
	perform distance test with objects belonging to another manager

bool	empty () const
	whether the manager is empty

size_t	size () const
	the number of objects managed by the manager

virtual void	getObjects (std::vector< CollisionObject * > &objs) const=0
	return the objects managed by the manager

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

Public Member Functions inherited from coal::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual	~BroadPhaseCollisionManager ()

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

Static Public Member Functions
static void	computeBound (std::vector< CollisionObject * > &objs, Vec3s &l, Vec3s &u)
	compute the bound for the environent

Protected Member Functions
bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, Scalar &min_dist) const
	perform distance computation between one object and all the objects belonging ot the manager

Protected Member Functions inherited from coal::BroadPhaseCollisionManager
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

std::list< CollisionObject * >	objs_partially_penetrating_scene_limit
	objects partially penetrating (not totally inside nor outside) the scene limit are in another list

std::list< CollisionObject * >	objs_outside_scene_limit
	objects outside the scene limit are in another list

AABB	scene_limit
	the size of the scene

std::map< CollisionObject *, AABB >	obj_aabb_map
	store the map between objects and their aabbs. will make update more convenient

HashTable *	hash_table
	objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table

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.

bool	enable_tested_set_

Detailed Description

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>
class coal::SpatialHashingCollisionManager< HashTable >

spatial hashing collision mananger

Member Typedef Documentation

◆ Base

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

typedef BroadPhaseCollisionManager coal::SpatialHashingCollisionManager< HashTable >::Base

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

template<typename HashTable >

coal::SpatialHashingCollisionManager< HashTable >::SpatialHashingCollisionManager	(	Scalar	cell_size,
		const Vec3s &	scene_min,
		const Vec3s &	scene_max,
		unsigned int	default_table_size = `1000`
	)

◆ ~SpatialHashingCollisionManager()

template<typename HashTable >

coal::SpatialHashingCollisionManager< HashTable >::~SpatialHashingCollisionManager ( )

Member Function Documentation

◆ clear()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::clear ( )

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [1/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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_()

template<typename HashTable >

bool coal::SpatialHashingCollisionManager< HashTable >::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

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

◆ computeBound()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::computeBound	(	std::vector< CollisionObject * > &	objs,
		Vec3s &	l,
		Vec3s &	u
	)

static

compute the bound for the environent

◆ distance() [1/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

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

Implements coal::BroadPhaseCollisionManager.

◆ distance() [3/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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_()

template<typename HashTable >

bool coal::SpatialHashingCollisionManager< HashTable >::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		Scalar &	min_dist
	)		const

protected

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

◆ empty()

template<typename HashTable >

bool coal::SpatialHashingCollisionManager< HashTable >::empty ( ) const

virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

◆ getObjects() [1/3]

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

virtual std::vector< CollisionObject * > coal::BroadPhaseCollisionManager::getObjects ( ) const

inlinevirtual

return the objects managed by the manager

Reimplemented from coal::BroadPhaseCollisionManager.

◆ getObjects() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ getObjects() [3/3]

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

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

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ registerObject()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::registerObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

◆ setup()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

◆ size()

template<typename HashTable >

size_t coal::SpatialHashingCollisionManager< HashTable >::size ( ) const

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ unregisterObject()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::unregisterObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [1/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::update ( )

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

◆ update() [3/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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

◆ hash_table

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

HashTable* coal::SpatialHashingCollisionManager< HashTable >::hash_table

protected

objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table

◆ obj_aabb_map

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::map<CollisionObject*, AABB> coal::SpatialHashingCollisionManager< HashTable >::obj_aabb_map

protected

store the map between objects and their aabbs. will make update more convenient

◆ objs

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> coal::SpatialHashingCollisionManager< HashTable >::objs

protected

all objects in the scene

◆ objs_outside_scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> coal::SpatialHashingCollisionManager< HashTable >::objs_outside_scene_limit

protected

objects outside the scene limit are in another list

◆ objs_partially_penetrating_scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> coal::SpatialHashingCollisionManager< HashTable >::objs_partially_penetrating_scene_limit

protected

objects partially penetrating (not totally inside nor outside) the scene limit are in another list

◆ scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

AABB coal::SpatialHashingCollisionManager< HashTable >::scene_limit

protected

the size of the scene

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

include/coal/broadphase/broadphase_spatialhash.h
include/coal/broadphase/broadphase_spatialhash-inl.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

◆ ~SpatialHashingCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ computeBound()

◆ 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

◆ hash_table

◆ obj_aabb_map

◆ objs

◆ objs_outside_scene_limit

◆ objs_partially_penetrating_scene_limit

◆ scene_limit