hpp-fcl 2.4.1
HPP fork of FCL -- The Flexible Collision Library
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broadphase_collision_manager.h
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35
38#ifndef HPP_FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
39#define HPP_FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
40
41#include <set>
42#include <vector>
43#include <boost/function.hpp>
44
47
48namespace hpp {
49namespace fcl {
50
55 public:
57
59
61 virtual void registerObjects(const std::vector<CollisionObject*>& other_objs);
62
64 virtual void registerObject(CollisionObject* obj) = 0;
65
67 virtual void unregisterObject(CollisionObject* obj) = 0;
68
70 virtual void setup() = 0;
71
73 virtual void update() = 0;
74
76 virtual void update(CollisionObject* updated_obj);
77
79 virtual void update(const std::vector<CollisionObject*>& updated_objs);
80
82 virtual void clear() = 0;
83
85 virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;
86
88 virtual std::vector<CollisionObject*> getObjects() const {
89 std::vector<CollisionObject*> res(size());
90 getObjects(res);
91 return res;
92 };
93
96 virtual void collide(CollisionObject* obj,
97 CollisionCallBackBase* callback) const = 0;
98
101 virtual void distance(CollisionObject* obj,
102 DistanceCallBackBase* callback) const = 0;
103
106 virtual void collide(CollisionCallBackBase* callback) const = 0;
107
110 virtual void distance(DistanceCallBackBase* callback) const = 0;
111
113 virtual void collide(BroadPhaseCollisionManager* other_manager,
114 CollisionCallBackBase* callback) const = 0;
115
117 virtual void distance(BroadPhaseCollisionManager* other_manager,
118 DistanceCallBackBase* callback) const = 0;
119
121 virtual bool empty() const = 0;
122
124 virtual size_t size() const = 0;
125
126 protected:
130 mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
131 mutable bool enable_tested_set_;
132
134
136};
137
138} // namespace fcl
139} // namespace hpp
140
141#endif
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:54
virtual void distance(CollisionObject *obj, DistanceCallBackBase *callback) const =0
perform distance computation between one object and all the objects belonging to the manager
virtual void setup()=0
initialize the manager, related with the specific type of manager
virtual bool empty() const =0
whether the manager is empty
virtual void getObjects(std::vector< CollisionObject * > &objs) const =0
return the objects managed by the manager
virtual void collide(CollisionCallBackBase *callback) const =0
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
virtual std::vector< CollisionObject * > getObjects() const
return the objects managed by the manager
Definition: broadphase_collision_manager.h:88
virtual void unregisterObject(CollisionObject *obj)=0
remove one object from the manager
virtual size_t size() const =0
the number of objects managed by the manager
virtual void distance(DistanceCallBackBase *callback) const =0
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
virtual void update(const std::vector< CollisionObject * > &updated_objs)
update the manager by explicitly given the set of objects update
virtual void update()=0
update the condition of manager
std::set< std::pair< CollisionObject *, CollisionObject * > > tested_set
tools help to avoid repeating collision or distance callback for the pairs of objects tested before....
Definition: broadphase_collision_manager.h:130
void insertTestedSet(CollisionObject *a, CollisionObject *b) const
virtual void collide(BroadPhaseCollisionManager *other_manager, CollisionCallBackBase *callback) const =0
perform collision test with objects belonging to another manager
virtual void clear()=0
clear the manager
virtual void distance(BroadPhaseCollisionManager *other_manager, DistanceCallBackBase *callback) const =0
perform distance test with objects belonging to another manager
virtual void update(CollisionObject *updated_obj)
update the manager by explicitly given the object updated
bool inTestedSet(CollisionObject *a, CollisionObject *b) const
virtual void registerObject(CollisionObject *obj)=0
add one object to the manager
virtual void registerObjects(const std::vector< CollisionObject * > &other_objs)
add objects to the manager
virtual void collide(CollisionObject *obj, CollisionCallBackBase *callback) const =0
perform collision test between one object and all the objects belonging to the manager
bool enable_tested_set_
Definition: broadphase_collision_manager.h:131
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
#define HPP_FCL_DLLAPI
Definition: config.hh:88
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