Rigorous SAP collision manager. More...

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

Inheritance diagram for fcl::SaPCollisionManager:

Collaboration diagram for fcl::SaPCollisionManager:

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	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...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

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, void cdata, CollisionCallBack callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	distance (CollisionObject obj, void cdata, DistanceCallBack callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

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

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

void	collide (BroadPhaseCollisionManager other_manager, void cdata, CollisionCallBack callback) const
	perform collision test with objects belonging to another manager More...

void	distance (BroadPhaseCollisionManager other_manager, void cdata, DistanceCallBack 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...

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

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
void	update_ (SaPAABB *updated_aabb)

void	updateVelist ()

bool	distance_ (CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const

bool	collide_ (CollisionObject obj, void cdata, CollisionCallBack callback) const

void	addToOverlapPairs (const SaPPair &p)

void	removeFromOverlapPairs (const SaPPair &p)

Protected Member Functions inherited from 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...

size_t	optimal_axis

std::map< CollisionObject , SaPAABB >	obj_aabb_map

Protected Attributes inherited from 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.

Constructor & Destructor Documentation

fcl::SaPCollisionManager::SaPCollisionManager ( )

inline

References elist, and optimal_axis.

fcl::SaPCollisionManager::~SaPCollisionManager ( )

inline

References clear().

Member Function Documentation

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

inlineprotected

void fcl::SaPCollisionManager::clear ( )

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager.

Referenced by ~SaPCollisionManager().

void fcl::SaPCollisionManager::collide	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager.

void fcl::SaPCollisionManager::collide	(	void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager.

void fcl::SaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

bool fcl::SaPCollisionManager::collide_	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const

protected

void fcl::SaPCollisionManager::distance	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager.

void fcl::SaPCollisionManager::distance	(	void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager.

void fcl::SaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

bool fcl::SaPCollisionManager::distance_	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const

protected

bool fcl::SaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager.

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

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

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

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager.

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

virtual

add objects to the manager

Reimplemented from fcl::BroadPhaseCollisionManager.

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

inlineprotected

void fcl::SaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager.

size_t fcl::SaPCollisionManager::size ( ) const

inlinevirtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

References AABB_arr.

Referenced by updateVelist().

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

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::SaPCollisionManager::update ( )

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager.

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

virtual

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager.

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

virtual

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager.

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

protected

void fcl::SaPCollisionManager::updateVelist ( )

inlineprotected

References elist, fcl::SaPCollisionManager::EndPoint::next, size(), and velist.

Member Data Documentation

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

protected

SAP interval list.

Referenced by size().

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

protected

End point list for x, y, z coordinates.

Referenced by SaPCollisionManager(), and updateVelist().

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

protected

size_t fcl::SaPCollisionManager::optimal_axis

protected

Referenced by SaPCollisionManager().

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

protected

The pair of objects that should further check for collision.

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

protected

vector version of elist, for acceleration

Referenced by updateVelist().

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation