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. More...
#include <hpp/fcl/broadphase/broadphase.h>
Public Member Functions | |
BroadPhaseCollisionManager () | |
virtual | ~BroadPhaseCollisionManager () |
virtual void | registerObjects (const std::vector< CollisionObject * > &other_objs) |
add objects to the manager More... | |
virtual void | registerObject (CollisionObject *obj)=0 |
add one object to the manager More... | |
virtual void | unregisterObject (CollisionObject *obj)=0 |
remove one object from the manager More... | |
virtual void | setup ()=0 |
initialize the manager, related with the specific type of manager More... | |
virtual void | update ()=0 |
update the condition of manager More... | |
virtual void | update (CollisionObject *) |
update the manager by explicitly given the object updated More... | |
virtual void | update (const std::vector< CollisionObject * > &) |
update the manager by explicitly given the set of objects update More... | |
virtual void | clear ()=0 |
clear the manager More... | |
virtual void | getObjects (std::vector< CollisionObject * > &objs) const =0 |
return the objects managed by the manager More... | |
virtual void | collide (CollisionObject *obj, void *cdata, CollisionCallBack callback) const =0 |
perform collision test between one object and all the objects belonging to the manager More... | |
virtual void | distance (CollisionObject *obj, void *cdata, DistanceCallBack callback) const =0 |
perform distance computation between one object and all the objects belonging to the manager More... | |
virtual void | collide (void *cdata, CollisionCallBack callback) const =0 |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More... | |
virtual void | distance (void *cdata, DistanceCallBack callback) const =0 |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More... | |
virtual void | collide (BroadPhaseCollisionManager *other_manager, void *cdata, CollisionCallBack callback) const =0 |
perform collision test with objects belonging to another manager More... | |
virtual void | distance (BroadPhaseCollisionManager *other_manager, void *cdata, DistanceCallBack callback) const =0 |
perform distance test with objects belonging to another manager More... | |
virtual bool | empty () const =0 |
whether the manager is empty More... | |
virtual size_t | size () const =0 |
the number of objects managed by the manager More... | |
Protected Member Functions | |
bool | inTestedSet (CollisionObject *a, CollisionObject *b) const |
void | insertTestedSet (CollisionObject *a, CollisionObject *b) const |
Protected Attributes | |
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_ |
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.
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inline |
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inlinevirtual |
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pure virtual |
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pure virtual |
perform collision test between one object and all the objects belonging to the manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
perform collision test with objects belonging to another manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
perform distance computation between one object and all the objects belonging to the manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
perform distance test with objects belonging to another manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
whether the manager is empty
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
return the objects managed by the manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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inlineprotected |
References tested_set.
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inlineprotected |
References tested_set.
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pure virtual |
add one object to the manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
Referenced by registerObjects().
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inlinevirtual |
add objects to the manager
Reimplemented in fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, and fcl::NaiveCollisionManager.
References registerObject().
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pure virtual |
initialize the manager, related with the specific type of manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
the number of objects managed by the manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
remove one object from the manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
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pure virtual |
update the condition of manager
Implemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, fcl::IntervalTreeCollisionManager, fcl::NaiveCollisionManager, and fcl::SSaPCollisionManager.
Referenced by update().
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inlinevirtual |
update the manager by explicitly given the object updated
Reimplemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, and fcl::IntervalTreeCollisionManager.
References update().
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inlinevirtual |
update the manager by explicitly given the set of objects update
Reimplemented in fcl::SpatialHashingCollisionManager< HashTable >, fcl::DynamicAABBTreeCollisionManager, fcl::DynamicAABBTreeCollisionManager_Array, fcl::SaPCollisionManager, and fcl::IntervalTreeCollisionManager.
References update().
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mutableprotected |
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mutableprotected |
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.
Referenced by insertTestedSet(), and inTestedSet().