Rigorous SAP collision manager. More...

#include <hpp/fcl/broadphase/broadphase_SaP.h>

Inheritance diagram for hpp::fcl::SaPCollisionManager:

Collaboration diagram for hpp::fcl::SaPCollisionManager:

[legend]

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	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...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...

Public Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
	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, FCL_REAL &min_dist) const

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

void	addToOverlapPairs (const SaPPair &p)

void	removeFromOverlapPairs (const SaPPair &p)

Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
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

Protected Attributes inherited from hpp::fcl::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

Rigorous SAP collision manager.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager hpp::fcl::SaPCollisionManager::Base

Constructor & Destructor Documentation

◆ SaPCollisionManager()

hpp::fcl::SaPCollisionManager::SaPCollisionManager ( )

◆ ~SaPCollisionManager()

hpp::fcl::SaPCollisionManager::~SaPCollisionManager ( )

Member Function Documentation

◆ addToOverlapPairs()

void hpp::fcl::SaPCollisionManager::addToOverlapPairs ( const SaPPair & p )

protected

◆ clear()

void hpp::fcl::SaPCollisionManager::clear ( )

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide() [1/3]

void hpp::fcl::SaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide() [2/3]

void hpp::fcl::SaPCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide() [3/3]

void hpp::fcl::SaPCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide_()

bool hpp::fcl::SaPCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

◆ distance() [1/3]

void hpp::fcl::SaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ distance() [2/3]

void hpp::fcl::SaPCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ distance() [3/3]

void hpp::fcl::SaPCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ distance_()

bool hpp::fcl::SaPCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

◆ empty()

bool hpp::fcl::SaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ getObjects() [1/3]

virtual std::vector<CollisionObject*> hpp::fcl::BroadPhaseCollisionManager::getObjects

inline

return the objects managed by the manager

◆ getObjects() [2/3]

void hpp::fcl::SaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ getObjects() [3/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

void hpp::fcl::SaPCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ registerObjects()

void hpp::fcl::SaPCollisionManager::registerObjects ( const std::vector< CollisionObject * > & other_objs )

virtual

add objects to the manager

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

◆ removeFromOverlapPairs()

void hpp::fcl::SaPCollisionManager::removeFromOverlapPairs ( const SaPPair & p )

protected

◆ setup()

void hpp::fcl::SaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ size()

size_t hpp::fcl::SaPCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ unregisterObject()

void hpp::fcl::SaPCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ update() [1/3]

virtual void hpp::fcl::SaPCollisionManager::update ( )

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ update() [2/3]

void hpp::fcl::SaPCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

◆ update() [3/3]

void hpp::fcl::SaPCollisionManager::update ( const std::vector< CollisionObject * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

◆ update_()

void hpp::fcl::SaPCollisionManager::update_ ( SaPAABB * updated_aabb )

protected

◆ updateVelist()

void hpp::fcl::SaPCollisionManager::updateVelist ( )

protected

Member Data Documentation

◆ AABB_arr

std::list<SaPAABB*> hpp::fcl::SaPCollisionManager::AABB_arr

protected

SAP interval list.

◆ elist

EndPoint* hpp::fcl::SaPCollisionManager::elist[3]

protected

End point list for x, y, z coordinates.

◆ obj_aabb_map

std::map<CollisionObject*, SaPAABB*> hpp::fcl::SaPCollisionManager::obj_aabb_map

protected

◆ optimal_axis

int hpp::fcl::SaPCollisionManager::optimal_axis

protected

◆ overlap_pairs

std::list<SaPPair> hpp::fcl::SaPCollisionManager::overlap_pairs

protected

The pair of objects that should further check for collision.

◆ velist

std::vector<EndPoint*> hpp::fcl::SaPCollisionManager::velist[3]

protected

vector version of elist, for acceleration

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

include/hpp/fcl/broadphase/broadphase_SaP.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SaPCollisionManager()

◆ ~SaPCollisionManager()

Member Function Documentation

◆ addToOverlapPairs()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ registerObjects()

◆ removeFromOverlapPairs()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ update_()

◆ updateVelist()

Member Data Documentation

◆ AABB_arr

◆ elist

◆ obj_aabb_map

◆ optimal_axis

◆ overlap_pairs

◆ velist