hpp-fcl 2.4.1
HPP fork of FCL -- The Flexible Collision Library
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broadphase_SSaP.h
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35
38#ifndef HPP_FCL_BROAD_PHASE_SSAP_H
39#define HPP_FCL_BROAD_PHASE_SSAP_H
40
41#include <vector>
43
44namespace hpp {
45namespace fcl {
46
49 public:
51 using Base::getObjects;
52
54
57
60
62 void setup();
63
65 virtual void update();
66
68 void clear();
69
71 void getObjects(std::vector<CollisionObject*>& objs) const;
72
75 void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
76
79 void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
80
83 void collide(CollisionCallBackBase* callback) const;
84
87 void distance(DistanceCallBackBase* callback) const;
88
91 CollisionCallBackBase* callback) const;
92
95 DistanceCallBackBase* callback) const;
96
98 bool empty() const;
99
101 size_t size() const;
102
103 protected:
107 typename std::vector<CollisionObject*>::const_iterator pos_start,
108 typename std::vector<CollisionObject*>::const_iterator pos_end,
109 CollisionObject* obj, CollisionCallBackBase* callback) const;
110
114 typename std::vector<CollisionObject*>::const_iterator pos_start,
115 typename std::vector<CollisionObject*>::const_iterator pos_end,
117 FCL_REAL& min_dist) const;
118
119 bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
120
122 FCL_REAL& min_dist) const;
123
125 const std::vector<CollisionObject*>& objs_x,
126 const std::vector<CollisionObject*>& objs_y,
127 const std::vector<CollisionObject*>& objs_z,
128 typename std::vector<CollisionObject*>::const_iterator& it_beg,
129 typename std::vector<CollisionObject*>::const_iterator& it_end);
130
132 std::vector<CollisionObject*> objs_x;
133
135 std::vector<CollisionObject*> objs_y;
136
138 std::vector<CollisionObject*> objs_z;
139
142 bool setup_;
143};
144
145} // namespace fcl
146} // namespace hpp
147
148#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
Simple SAP collision manager.
Definition: broadphase_SSaP.h:48
std::vector< CollisionObject * > objs_x
Objects sorted according to lower x value.
Definition: broadphase_SSaP.h:132
void getObjects(std::vector< CollisionObject * > &objs) const
return the objects managed by the manager
void distance(CollisionObject *obj, DistanceCallBackBase *callback) const
perform distance computation between one object and all the objects belonging to the manager
void clear()
clear the manager
void collide(CollisionObject *obj, CollisionCallBackBase *callback) const
perform collision test between one object and all the objects belonging to the manager
bool checkDis(typename std::vector< CollisionObject * >::const_iterator pos_start, typename std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const
check distance between one object and a list of objects, return value is whether stop is possible
void distance(BroadPhaseCollisionManager *other_manager, DistanceCallBackBase *callback) const
perform distance test with objects belonging to another manager
void distance(DistanceCallBackBase *callback) const
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void registerObject(CollisionObject *obj)
remove one object from the manager
virtual void update()
update the condition of manager
std::vector< CollisionObject * > objs_z
Objects sorted according to lower z value.
Definition: broadphase_SSaP.h:138
void collide(BroadPhaseCollisionManager *other_manager, CollisionCallBackBase *callback) const
perform collision test with objects belonging to another manager
bool setup_
tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y,...
Definition: broadphase_SSaP.h:142
bool collide_(CollisionObject *obj, CollisionCallBackBase *callback) const
bool checkColl(typename std::vector< CollisionObject * >::const_iterator pos_start, typename std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject *obj, CollisionCallBackBase *callback) const
check collision between one object and a list of objects, return value is whether stop is possible
void setup()
initialize the manager, related with the specific type of manager
static int selectOptimalAxis(const std::vector< CollisionObject * > &objs_x, const std::vector< CollisionObject * > &objs_y, const std::vector< CollisionObject * > &objs_z, typename std::vector< CollisionObject * >::const_iterator &it_beg, typename std::vector< CollisionObject * >::const_iterator &it_end)
bool distance_(CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const
BroadPhaseCollisionManager Base
Definition: broadphase_SSaP.h:50
std::vector< CollisionObject * > objs_y
Objects sorted according to lower y value.
Definition: broadphase_SSaP.h:135
size_t size() const
the number of objects managed by the manager
bool empty() const
whether the manager is empty
void collide(CollisionCallBackBase *callback) const
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void unregisterObject(CollisionObject *obj)
add one object to the manager
#define HPP_FCL_DLLAPI
Definition: config.hh:88
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