hpp-fcl 2.4.4
HPP fork of FCL -- The Flexible Collision Library
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broadphase_bruteforce.h
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35
38#ifndef HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H
39#define HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H
40
41#include <list>
43
44namespace hpp {
45namespace fcl {
46
49 public:
51 using Base::getObjects;
52
54
56 void registerObjects(const std::vector<CollisionObject*>& other_objs);
57
60
63
65 void setup();
66
68 virtual void update();
69
71 void clear();
72
74 void getObjects(std::vector<CollisionObject*>& objs) const;
75
78 void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
79
82 void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
83
86 void collide(CollisionCallBackBase* callback) const;
87
90 void distance(DistanceCallBackBase* callback) const;
91
94 CollisionCallBackBase* callback) const;
95
98 DistanceCallBackBase* callback) const;
99
101 bool empty() const;
102
104 size_t size() const;
105
106 protected:
108 std::list<CollisionObject*> objs;
109};
110
111} // namespace fcl
112
113} // namespace hpp
114
115#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
Brute force N-body collision manager.
Definition: broadphase_bruteforce.h:48
virtual void update()
update the condition of manager
void collide(BroadPhaseCollisionManager *other_manager, CollisionCallBackBase *callback) const
perform collision test with objects belonging to another manager
BroadPhaseCollisionManager Base
Definition: broadphase_bruteforce.h:50
size_t size() const
the number of objects managed by the manager
void getObjects(std::vector< CollisionObject * > &objs) const
return the objects managed by 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
void distance(CollisionObject *obj, DistanceCallBackBase *callback) const
perform distance computation between one object and all the objects belonging to the manager
bool empty() const
whether the manager is empty
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)
std::list< CollisionObject * > objs
objects belonging to the manager are stored in a list structure
Definition: broadphase_bruteforce.h:108
void registerObjects(const std::vector< CollisionObject * > &other_objs)
add objects to the manager
void setup()
initialize the manager, related with the specific type of manager
void unregisterObject(CollisionObject *obj)
remove one object from the manager
void collide(CollisionCallBackBase *callback) const
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void registerObject(CollisionObject *obj)
add one object to the manager
#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