Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 12345]

Ccoal::AABB	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
►Ccoal::BroadPhaseCollisionManager	Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects
Ccoal::DynamicAABBTreeArrayCollisionManager
Ccoal::DynamicAABBTreeCollisionManager
Ccoal::IntervalTreeCollisionManager	Collision manager based on interval tree
Ccoal::NaiveCollisionManager	Brute force N-body collision manager
Ccoal::SSaPCollisionManager	Simple SAP collision manager
Ccoal::SaPCollisionManager	Rigorous SAP collision manager
Ccoal::SpatialHashingCollisionManager< HashTable >	Spatial hashing collision mananger
Ccoal::BroadPhaseContinuousCollisionManager< S >	Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects
►Ccoal::BVFitterTpl< BV >	The class for the default algorithm fitting a bounding volume to a set of points
Ccoal::BVFitter< BV >	The class for the default algorithm fitting a bounding volume to a set of points
►Ccoal::BVFitterTpl< AABB >
Ccoal::BVFitter< AABB >	Specification of BVFitter for AABB bounding volume
►Ccoal::BVFitterTpl< kIOS >
Ccoal::BVFitter< kIOS >	Specification of BVFitter for kIOS bounding volume
►Ccoal::BVFitterTpl< OBB >
Ccoal::BVFitter< OBB >	Specification of BVFitter for OBB bounding volume
►Ccoal::BVFitterTpl< OBBRSS >
Ccoal::BVFitter< OBBRSS >	Specification of BVFitter for OBBRSS bounding volume
►Ccoal::BVFitterTpl< RSS >
Ccoal::BVFitter< RSS >	Specification of BVFitter for RSS bounding volume
Ccoal::BVHFrontNode	Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a BVTT that is traversed for that particular proximity query
►Ccoal::BVNodeBase	BVNodeBase encodes the tree structure for BVH
Ccoal::BVNode< BV >	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter
►Ccoal::BVSplitter< BV >	A class describing the split rule that splits each BV node
Cboost::serialization::internal::BVSplitterAccessor< BV >
Ccoal::serialization::detail::cast_register_initializer< Derived, Base >
►Ccoal::CollisionCallBackBase	Base callback class for collision queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision)
Ccoal::CollisionCallBackCollect	Collision callback to collect collision pairs potentially in contacts
Ccoal::CollisionCallBackDefault	Default collision callback to check collision between collision objects
Ccoal::CollisionData	Collision data stores the collision request and the result given by collision algorithm
Ccoal::CollisionFunctionMatrix	Collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
►Ccoal::CollisionGeometry	The geometry for the object for collision or distance computation
►Ccoal::BVHModelBase	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
Cboost::serialization::internal::BVHModelBaseAccessor
►Ccoal::BVHModel< BV >	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
Cboost::serialization::internal::BVHModelAccessor< BV >
►Ccoal::HeightField< BV >	Data structure depicting a height field given by the base grid dimensions and the elevation along the grid
Cboost::serialization::internal::HeightFieldAccessor< BV >
►Ccoal::OcTree	Octree is one type of collision geometry which can encode uncertainty information in the sensor data
Cboost::serialization::internal::OcTreeAccessor
►Ccoal::ShapeBase	Base class for all basic geometric shapes
Ccoal::Box	Center at zero point, axis aligned box
Ccoal::Capsule	Capsule It is \( { x~\in~\mathbb{R}^3, d(x, AB) \leq radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \)
Ccoal::Cone	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \)
►Ccoal::ConvexBase	Base for convex polytope
Cboost::serialization::internal::ConvexBaseAccessor
►Ccoal::Convex< PolygonT >	Convex polytope
Cboost::serialization::internal::ConvexAccessor< PolygonT >
Ccoal::Cylinder	Cylinder along Z axis. The cylinder is defined at its centroid
Ccoal::Ellipsoid	Ellipsoid centered at point zero
Ccoal::Halfspace	Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the direction of the normal. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms
Ccoal::Plane	Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms
Ccoal::Sphere	Center at zero point sphere
Ccoal::TriangleP	Triangle stores the points instead of only indices of points
Ccoal::details::LargeConvex	Cast a ConvexBase to a LargeConvex to use the log version of getShapeSupport. This is much faster than the linear version of getShapeSupport when a ConvexBase has more than a few dozen of vertices
Ccoal::details::SmallConvex	See LargeConvex
Ccoal::CollisionObject	Object for collision or distance computation, contains the geometry and the transform information
Ccoal::ComputeCollision	This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries
Ccoal::ComputeContactPatch	This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries
Ccoal::ComputeDistance
Ccoal::ComputeShapeShapeContactPatch< ShapeType1, ShapeType2 >	Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest
Ccoal::ComputeShapeShapeContactPatch< Halfspace, Halfspace >
Ccoal::ComputeShapeShapeContactPatch< Halfspace, OtherShapeType >
Ccoal::ComputeShapeShapeContactPatch< Halfspace, Plane >
Ccoal::ComputeShapeShapeContactPatch< OtherShapeType, Halfspace >
Ccoal::ComputeShapeShapeContactPatch< OtherShapeType, Plane >
Ccoal::ComputeShapeShapeContactPatch< Plane, Halfspace >
Ccoal::ComputeShapeShapeContactPatch< Plane, OtherShapeType >
Ccoal::ComputeShapeShapeContactPatch< Plane, Plane >
Ccoal::Contact	Contact information returned by collision
Ccoal::ContactPatch	This structure allows to encode contact patches. A contact patch is defined by a set of points belonging to a subset of a plane passing by p and supported by n, where n = Contact::normal and p = Contact::pos. If we denote by P this plane and by S1 and S2 the first and second shape of a collision pair, a contact patch is represented as a polytope which vertices all belong to P & S1 & S2, where & denotes the set-intersection. Since a contact patch is a subset of a plane supported by n, it has a preferred direction. In Coal, the Contact::normal points from S1 to S2. In the same way, a contact patch points by default from S1 to S2
Ccoal::ContactPatchFunctionMatrix	The contact patch matrix stores the functions for contact patches computation between different types of objects and provides a uniform call interface
Ccoal::ContactPatchRequest	Request for a contact patch computation
Ccoal::ContactPatchResult	Result for a contact patch computation
Ccoal::ContactPatchSolver	Solver to compute contact patches, i.e. the intersection between two contact surfaces projected onto the shapes' separating plane. Otherwise said, a contact patch is simply the intersection between two support sets: the support set of shape S1 in direction n and the support set of shape S2 in direction -n, where n is the contact normal (satisfying the optimality conditions of GJK/EPA)
Ccoal::CPUTimes
►Ccoal::DistanceCallBackBase	Base callback class for distance queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision)
Ccoal::DistanceCallBackDefault	Default distance callback to check collision between collision objects
Ccoal::DistanceData	Distance data stores the distance request and the result given by distance algorithm
Ccoal::DistanceFunctionMatrix	Distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
Ccoal::IntervalTreeCollisionManager::EndPoint	SAP end point
Ccoal::SaPCollisionManager::EndPoint	End point for an interval
Ccoal::details::EPA	Class for EPA algorithm
Ccoal::details::GJK	Class for GJK algorithm
Ccoal::GJKSolver	Collision and distance solver based on the GJK and EPA algorithms. Originally, GJK and EPA were implemented in fcl which itself took inspiration from the code of the GJK in bullet. Since then, both GJK and EPA have been largely modified to be faster and more robust to numerical accuracy and edge cases
►Ccoal::HFNodeBase
Ccoal::HFNode< BV >
Ccoal::detail::HierarchyTree< BV >	Class for hierarchy tree structure
Ccoal::detail::implementation_array::HierarchyTree< BV >	Class for hierarchy tree structure
Ccoal::detail::implementation_array::HierarchyTree< coal::AABB >
Ccoal::serialization::detail::init_cast_register< Derived, Base >
Ccoal::detail::IntervalTree	Interval tree
Ccoal::detail::IntervalTreeNode	The node for interval tree
Ccoal::SaPCollisionManager::isNotValidPair	Functor to help remove collision pairs no longer valid (i.e., should be culled away)
Ccoal::SaPCollisionManager::isUnregistered	Functor to help unregister one object
Ccoal::detail::it_recursion_node	Class describes the information needed when we take the right branch in searching for intervals but possibly come back and check the left branch as well
►Ccoal::KDOP< N >	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23
Cboost::serialization::internal::KDOPAccessor< N >
Ccoal::CachedMeshLoader::Key
Ccoal::kIOS	A class describing the kIOS collision structure, which is a set of spheres
Ccoal::internal::Loader
Ccoal::internal::memory_footprint_evaluator< T >
Ccoal::internal::memory_footprint_evaluator<::coal::BVHModel< BV > >
►Ccoal::MeshLoader
Ccoal::CachedMeshLoader
►CMeshShapeDistanceTraversalNode
CMeshShapeDistanceTraversalNodeOBBRSS< S >
CMeshShapeDistanceTraversalNodeRSS< S >	Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, kIOS, OBBRSS)
CMeshShapeDistanceTraversalNodekIOS< S >
Ccoal::details::MinkowskiDiff	Minkowski difference class of two shapes
Ccoal::ConvexBase::Neighbors
Ccoal::detail::implementation_array::NodeBase< BV >
Ccoal::detail::NodeBase< BV >	Dynamic AABB tree node
Ccoal::detail::implementation_array::nodeBaseLess< BV >	Functor comparing two nodes
Ccoal::OBB	Oriented bounding box class
Ccoal::OBBRSS	Class merging the OBB and RSS, can handle collision and distance simultaneously
Ccoal::Quadrilateral	Quadrilateral with 4 indices for points
►Ccoal::QueryRequest	Base class for all query requests
Ccoal::CollisionRequest	Request to the collision algorithm
Ccoal::DistanceRequest	Request to the distance computation
►Ccoal::QueryResult	Base class for all query results
Ccoal::CollisionResult	Collision result
Ccoal::DistanceResult	Distance result
Ccoal::serialization::register_type< T >
Ccoal::serialization::register_type< CollisionGeometry >
Ccoal::RSS	A class for rectangle sphere-swept bounding volume
Ccoal::SaPCollisionManager::SaPAABB	SAP interval for one object
Ccoal::SaPCollisionManager::SaPPair	A pair of objects that are not culling away and should further check collision
Ccoal::detail::implementation_array::SelectImpl< S, BV >
Ccoal::detail::SelectImpl< S, BV >
Ccoal::detail::implementation_array::SelectImpl< S, AABB >
Ccoal::detail::SelectImpl< S, AABB >
Ccoal::serialization::Serializer
►Ccoal::shape_traits_base
Ccoal::shape_traits< Shape >
Ccoal::shape_traits< Box >
Ccoal::shape_traits< Capsule >
Ccoal::shape_traits< Cone >
Ccoal::shape_traits< ConvexBase >
Ccoal::shape_traits< Cylinder >
Ccoal::shape_traits< Ellipsoid >
Ccoal::shape_traits< Halfspace >
Ccoal::shape_traits< Sphere >
Ccoal::shape_traits< TriangleP >
Ccoal::details::ShapeSupportData	Stores temporary data for the computation of support points
Ccoal::detail::SimpleHashTable< Key, Data, HashFnc >	A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., }
Ccoal::detail::SimpleHashTable< AABB, CollisionObject *, detail::SpatialHash >
►Ccoal::detail::SimpleInterval	Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest
Ccoal::IntervalTreeCollisionManager::SAPInterval	Extention interval tree's interval to SAP interval, adding more information
Ccoal::details::GJK::Simplex	A simplex is a set of up to 4 vertices. Its rank is the number of vertices it contains
Ccoal::details::EPA::SimplexFace
Ccoal::details::EPA::SimplexFaceList	The simplex list of EPA is a linked list of faces. Note: EPA's linked list does not own any memory. The memory it refers to is contiguous and owned by a std::vector
Ccoal::details::EPA::SimplexHorizon
Ccoal::details::GJK::SimplexV
Ccoal::detail::SparseHashTable< Key, Data, HashFnc, TableT >	A hash table implemented using unordered_map
Ccoal::detail::SpatialHash	Spatial hash function: hash an AABB to a set of integer values
Ccoal::ConvexBase::SupportWarmStartPolytope	The support warm start polytope contains certain points of this which are support points in specific directions of space. This struct is used to warm start the support function computation for large meshes (num_points > 32)
Ccoal::Timer	This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library. Importantly, this class will only have an effect for C++11 and more
Ccoal::Transform3s	Simple transform class used locally by InterpMotion
Ccoal::TraversalTraitsCollision< TypeA, TypeB >
Ccoal::TraversalTraitsDistance< TypeA, TypeB >
Ccoal::Triangle	Triangle with 3 indices for points
Ccoal::internal::TriangleAndVertices
►Cstd::unordered_map
Ccoal::detail::unordered_map_hash_table< size_t, Bin >
Ccoal::detail::unordered_map_hash_table< U, V >
Ccoal::details::UpdateBoundingVolume< BV >
Ccoal::details::UpdateBoundingVolume< AABB >
Ccoal::detail::UpdateImpl< S, BV >
Ccoal::CachedMeshLoader::Value