hpp-fcl 2.3.6
HPP fork of FCL -- The Flexible Collision Library
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broadphase_interval_tree.h
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35
38#ifndef HPP_FCL_BROAD_PHASE_INTERVAL_TREE_H
39#define HPP_FCL_BROAD_PHASE_INTERVAL_TREE_H
40
41#include <deque>
42#include <map>
43
46
47namespace hpp {
48namespace fcl {
49
53 public:
55 using Base::getObjects;
56
58
60
63
66
68 void setup();
69
71 virtual void update();
72
74 void update(CollisionObject* updated_obj);
75
77 void update(const std::vector<CollisionObject*>& updated_objs);
78
80 void clear();
81
83 void getObjects(std::vector<CollisionObject*>& objs) const;
84
87 void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
88
91 void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
92
95 void collide(CollisionCallBackBase* callback) const;
96
99 void distance(DistanceCallBackBase* callback) const;
100
103 CollisionCallBackBase* callback) const;
104
107 DistanceCallBackBase* callback) const;
108
110 bool empty() const;
111
113 size_t size() const;
114
115 protected:
121
124
127 char minmax;
128
129 bool operator<(const EndPoint& p) const;
130 };
131
136
138 };
139
141 typename std::deque<detail::SimpleInterval*>::const_iterator pos_start,
142 typename std::deque<detail::SimpleInterval*>::const_iterator pos_end,
143 CollisionObject* obj, CollisionCallBackBase* callback) const;
144
146 typename std::deque<detail::SimpleInterval*>::const_iterator pos_start,
147 typename std::deque<detail::SimpleInterval*>::const_iterator pos_end,
149 FCL_REAL& min_dist) const;
150
151 bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
152
154 FCL_REAL& min_dist) const;
155
157 std::vector<EndPoint> endpoints[3];
158
160 detail::IntervalTree* interval_trees[3];
161
162 std::map<CollisionObject*, SAPInterval*> obj_interval_maps[3];
163
165 bool setup_;
166};
167
168} // namespace fcl
169
170} // namespace hpp
171
172#endif
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:54
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
Collision manager based on interval tree.
Definition: broadphase_interval_tree.h:52
bool checkColl(typename std::deque< detail::SimpleInterval * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval * >::const_iterator pos_end, CollisionObject *obj, CollisionCallBackBase *callback) const
void update(CollisionObject *updated_obj)
update the manager by explicitly given the object updated
BroadPhaseCollisionManager Base
Definition: broadphase_interval_tree.h:54
void collide(CollisionCallBackBase *callback) const
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
bool setup_
tag for whether the interval tree is maintained suitably
Definition: broadphase_interval_tree.h:165
void distance(BroadPhaseCollisionManager *other_manager, DistanceCallBackBase *callback) const
perform distance test with objects belonging to another manager
bool empty() const
whether the manager is empty
bool checkDist(typename std::deque< detail::SimpleInterval * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval * >::const_iterator pos_end, CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const
void collide(CollisionObject *obj, CollisionCallBackBase *callback) const
perform collision test between one object and all the objects belonging to the manager
void setup()
initialize the manager, related with the specific type of manager
void unregisterObject(CollisionObject *obj)
add one object to the manager
size_t size() const
the number of objects managed by the manager
bool collide_(CollisionObject *obj, CollisionCallBackBase *callback) const
bool distance_(CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const
void getObjects(std::vector< CollisionObject * > &objs) const
return the objects managed by the manager
void distance(DistanceCallBackBase *callback) const
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void distance(CollisionObject *obj, DistanceCallBackBase *callback) const
perform distance computation between one object and all the objects belonging to the manager
void update(const std::vector< CollisionObject * > &updated_objs)
update the manager by explicitly given the set of objects update
void collide(BroadPhaseCollisionManager *other_manager, CollisionCallBackBase *callback) const
perform collision test with objects belonging to another manager
void registerObject(CollisionObject *obj)
remove one object from the manager
virtual void update()
update the condition of manager
Interval tree.
Definition: interval_tree.h:64
#define HPP_FCL_DLLAPI
Definition: config.hh:64
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
Base callback class for collision queries. This class can be supersed by child classes to provide des...
Definition: broadphase_callbacks.h:50
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73
SAP end point.
Definition: broadphase_interval_tree.h:118
FCL_REAL value
end point value
Definition: broadphase_interval_tree.h:123
CollisionObject * obj
object related with the end point
Definition: broadphase_interval_tree.h:120
char minmax
tag for whether it is a lower bound or higher bound of an interval, 0 for lo, and 1 for hi
Definition: broadphase_interval_tree.h:127
Extention interval tree's interval to SAP interval, adding more information.
Definition: broadphase_interval_tree.h:134
CollisionObject * obj
Definition: broadphase_interval_tree.h:135
SAPInterval(FCL_REAL low_, FCL_REAL high_, CollisionObject *obj_)
Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_...
Definition: simple_interval.h:50