hpp-fcl 2.3.6
HPP fork of FCL -- The Flexible Collision Library
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broadphase_SaP.h
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35
38#ifndef HPP_FCL_BROAD_PHASE_SAP_H
39#define HPP_FCL_BROAD_PHASE_SAP_H
40
41#include <map>
42#include <list>
43
45
46namespace hpp {
47namespace fcl {
48
51 public:
53 using Base::getObjects;
54
56
58
60 void registerObjects(const std::vector<CollisionObject*>& other_objs);
61
64
67
69 void setup();
70
72 virtual void update();
73
75 void update(CollisionObject* updated_obj);
76
78 void update(const std::vector<CollisionObject*>& updated_objs);
79
81 void clear();
82
84 void getObjects(std::vector<CollisionObject*>& objs) const;
85
88 void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
89
92 void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
93
96 void collide(CollisionCallBackBase* callback) const;
97
100 void distance(DistanceCallBackBase* callback) const;
101
104 CollisionCallBackBase* callback) const;
105
108 DistanceCallBackBase* callback) const;
109
111 bool empty() const;
112
114 size_t size() const;
115
116 protected:
117 struct EndPoint;
118
120 struct SaPAABB {
123
126
129
132 };
133
135 struct EndPoint {
138 char minmax;
139
142
144 EndPoint* prev[3];
145
147 EndPoint* next[3];
148
150 const Vec3f& getVal() const;
151
154
155 FCL_REAL getVal(size_t i) const;
156
157 FCL_REAL& getVal(size_t i);
158 };
159
162 struct SaPPair {
164
167
168 bool operator==(const SaPPair& other) const;
169 };
170
173 CollisionObject* obj;
174
175 public:
177
178 bool operator()(const SaPPair& pair) const;
179 };
180
184 CollisionObject* obj1;
185 CollisionObject* obj2;
186
187 public:
189
190 bool operator()(const SaPPair& pair);
191 };
192
193 void update_(SaPAABB* updated_aabb);
194
196
198 EndPoint* elist[3];
199
201 std::vector<EndPoint*> velist[3];
202
204 std::list<SaPAABB*> AABB_arr;
205
207 std::list<SaPPair> overlap_pairs;
208
210
211 std::map<CollisionObject*, SaPAABB*> obj_aabb_map;
212
214 FCL_REAL& min_dist) const;
215
216 bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
217
219
221};
222
223} // namespace fcl
224} // namespace hpp
225
226#endif
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:54
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
Functor to help remove collision pairs no longer valid (i.e., should be culled away)
Definition: broadphase_SaP.h:183
isNotValidPair(CollisionObject *obj1_, CollisionObject *obj2_)
Functor to help unregister one object.
Definition: broadphase_SaP.h:172
bool operator()(const SaPPair &pair) const
Rigorous SAP collision manager.
Definition: broadphase_SaP.h:50
void update_(SaPAABB *updated_aabb)
bool empty() const
whether the manager is empty
void update(CollisionObject *updated_obj)
update the manager by explicitly given the object updated
std::map< CollisionObject *, SaPAABB * > obj_aabb_map
Definition: broadphase_SaP.h:211
void collide(CollisionCallBackBase *callback) const
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
bool collide_(CollisionObject *obj, CollisionCallBackBase *callback) const
bool distance_(CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const
void distance(DistanceCallBackBase *callback) const
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void setup()
initialize the manager, related with the specific type of manager
std::list< SaPPair > overlap_pairs
The pair of objects that should further check for collision.
Definition: broadphase_SaP.h:207
void update(const std::vector< CollisionObject * > &updated_objs)
update the manager by explicitly given the set of objects update
void unregisterObject(CollisionObject *obj)
add one object to the manager
void removeFromOverlapPairs(const SaPPair &p)
std::list< SaPAABB * > AABB_arr
SAP interval list.
Definition: broadphase_SaP.h:204
virtual void update()
update the condition of manager
void registerObjects(const std::vector< CollisionObject * > &other_objs)
add objects to the manager
size_t size() const
the number of objects managed by the manager
void addToOverlapPairs(const SaPPair &p)
int optimal_axis
Definition: broadphase_SaP.h:209
void collide(CollisionObject *obj, CollisionCallBackBase *callback) const
perform collision test between one object and all the objects belonging to the manager
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
void clear()
clear the manager
void getObjects(std::vector< CollisionObject * > &objs) const
return the objects managed by the manager
void distance(BroadPhaseCollisionManager *other_manager, DistanceCallBackBase *callback) const
perform distance test with objects belonging to another manager
BroadPhaseCollisionManager Base
Definition: broadphase_SaP.h:52
void distance(CollisionObject *obj, DistanceCallBackBase *callback) const
perform distance computation between one object and all the objects belonging to the manager
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
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
End point for an interval.
Definition: broadphase_SaP.h:135
SaPAABB * aabb
back pointer to SAP interval
Definition: broadphase_SaP.h:141
Vec3f & getVal()
set the value of the end point
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_SaP.h:138
const Vec3f & getVal() const
get the value of the end point
SAP interval for one object.
Definition: broadphase_SaP.h:120
EndPoint * lo
lower bound end point of the interval
Definition: broadphase_SaP.h:125
CollisionObject * obj
object
Definition: broadphase_SaP.h:122
EndPoint * hi
higher bound end point of the interval
Definition: broadphase_SaP.h:128
AABB cached
cached AABB value
Definition: broadphase_SaP.h:131
A pair of objects that are not culling away and should further check collision.
Definition: broadphase_SaP.h:162
CollisionObject * obj2
Definition: broadphase_SaP.h:166
CollisionObject * obj1
Definition: broadphase_SaP.h:165
bool operator==(const SaPPair &other) const
SaPPair(CollisionObject *a, CollisionObject *b)