spatial hashing collision mananger More...

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

Inheritance diagram for fcl::SpatialHashingCollisionManager< HashTable >:

Collaboration diagram for fcl::SpatialHashingCollisionManager< HashTable >:

Public Member Functions
	SpatialHashingCollisionManager (FCL_REAL cell_size, const Vec3f &scene_min, const Vec3f &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...

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 ot 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 ()

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

Static Public Member Functions
static void	computeBound (std::vector< CollisionObject * > &objs, Vec3f &l, Vec3f &u)
	compute the bound for the environent More...

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

bool	distance_ (CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
	perform distance computation between one object and all the objects belonging ot the manager More...

Protected Member Functions inherited from fcl::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 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...

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

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

spatial hashing collision mananger

Constructor & Destructor Documentation

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

fcl::SpatialHashingCollisionManager< HashTable >::SpatialHashingCollisionManager	(	FCL_REAL	cell_size,
		const Vec3f &	scene_min,
		const Vec3f &	scene_max,
		unsigned int	default_table_size = `1000`
	)

inline

References fcl::SpatialHashingCollisionManager< HashTable >::hash_table.

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

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

inline

References fcl::SpatialHashingCollisionManager< HashTable >::hash_table.

Member Function Documentation

template<typename HashTable >

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

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager.

template<typename HashTable >

void fcl::SpatialHashingCollisionManager< HashTable >::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.

template<typename HashTable >

void fcl::SpatialHashingCollisionManager< HashTable >::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.

template<typename HashTable >

void fcl::SpatialHashingCollisionManager< HashTable >::collide	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

References fcl::collide(), fcl::SpatialHashingCollisionManager< HashTable >::collide_(), fcl::SpatialHashingCollisionManager< HashTable >::objs, and fcl::SpatialHashingCollisionManager< HashTable >::size().

template<typename HashTable >

bool fcl::SpatialHashingCollisionManager< HashTable >::collide_	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const

protected

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

References fcl::CollisionObject::getAABB().

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide().

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

static void fcl::SpatialHashingCollisionManager< HashTable >::computeBound	(	std::vector< CollisionObject * > &	objs,
		Vec3f &	l,
		Vec3f &	u
	)

inlinestatic

compute the bound for the environent

References fcl::bound(), fcl::AABB::max_, and fcl::AABB::min_.

template<typename HashTable >

void fcl::SpatialHashingCollisionManager< HashTable >::distance	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager.

References fcl::details::max().

template<typename HashTable >

void fcl::SpatialHashingCollisionManager< HashTable >::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.

References fcl::details::max().

template<typename HashTable >

void fcl::SpatialHashingCollisionManager< HashTable >::distance	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

References fcl::distance(), fcl::SpatialHashingCollisionManager< HashTable >::distance_(), fcl::details::max(), fcl::SpatialHashingCollisionManager< HashTable >::objs, and fcl::SpatialHashingCollisionManager< HashTable >::size().

template<typename HashTable >

bool fcl::SpatialHashingCollisionManager< HashTable >::distance_	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const

protected

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

References fcl::AABB::distance(), fcl::AABB::equal(), fcl::AABB::expand(), fcl::CollisionObject::getAABB(), fcl::details::max(), fcl::AABB::max_, and fcl::AABB::min_.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::distance().

template<typename HashTable >

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

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager.

template<typename HashTable >

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

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

template<typename HashTable >

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

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager.

References fcl::CollisionObject::getAABB().

template<typename HashTable >

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

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager.

template<typename HashTable >

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

virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide(), and fcl::SpatialHashingCollisionManager< HashTable >::distance().

template<typename HashTable >

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

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager.

References fcl::CollisionObject::getAABB().

template<typename HashTable >

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

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager.

References fcl::CollisionObject::getAABB().

template<typename HashTable >

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

virtual

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager.

References fcl::CollisionObject::getAABB().

template<typename HashTable >

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

virtual

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager.

Member Data Documentation

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

HashTable* fcl::SpatialHashingCollisionManager< HashTable >::hash_table

protected

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

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::SpatialHashingCollisionManager(), and fcl::SpatialHashingCollisionManager< HashTable >::~SpatialHashingCollisionManager().

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

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

protected

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

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

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

protected

all objects in the scene

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide(), and fcl::SpatialHashingCollisionManager< HashTable >::distance().

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

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

protected

objects outside the scene limit are in another list

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

AABB fcl::SpatialHashingCollisionManager< HashTable >::scene_limit

protected

the size of the scene

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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