Rigorous SAP collision manager. More...
#include <hpp/fcl/broadphase/broadphase_SaP.h>
Classes | |
struct | EndPoint |
End point for an interval. More... | |
class | isNotValidPair |
Functor to help remove collision pairs no longer valid (i.e., should be culled away) More... | |
class | isUnregistered |
Functor to help unregister one object. More... | |
struct | SaPAABB |
SAP interval for one object. More... | |
struct | SaPPair |
A pair of objects that are not culling away and should further check collision. More... | |
Public Member Functions | |
SaPCollisionManager () | |
~SaPCollisionManager () | |
void | registerObjects (const std::vector< CollisionObject * > &other_objs) |
add objects to the manager | |
void | registerObject (CollisionObject *obj) |
remove one object from the manager | |
void | unregisterObject (CollisionObject *obj) |
add one object to the manager | |
void | setup () |
initialize the manager, related with the specific type of manager | |
void | update () |
update the condition of manager | |
void | update (CollisionObject *updated_obj) |
update the manager by explicitly given the object updated | |
void | update (const std::vector< CollisionObject * > &updated_objs) |
update the manager by explicitly given the set of objects update | |
void | clear () |
clear the manager | |
void | getObjects (std::vector< CollisionObject * > &objs) const |
return the objects managed by the manager | |
void | collide (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
perform collision test between one object and all the objects belonging to the manager | |
void | distance (CollisionObject *obj, void *cdata, DistanceCallBack callback) const |
perform distance computation between one object and all the objects belonging to the manager | |
void | collide (void *cdata, CollisionCallBack callback) const |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision) | |
void | distance (void *cdata, DistanceCallBack callback) const |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance) | |
void | collide (BroadPhaseCollisionManager *other_manager, void *cdata, CollisionCallBack callback) const |
perform collision test with objects belonging to another manager | |
void | distance (BroadPhaseCollisionManager *other_manager, void *cdata, DistanceCallBack callback) const |
perform distance test with objects belonging to another manager | |
bool | empty () const |
whether the manager is empty | |
size_t | size () const |
the number of objects managed by the manager | |
Protected Member Functions | |
void | update_ (SaPAABB *updated_aabb) |
void | updateVelist () |
bool | distance_ (CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
bool | collide_ (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
void | addToOverlapPairs (const SaPPair &p) |
void | removeFromOverlapPairs (const SaPPair &p) |
Protected Attributes | |
EndPoint * | elist [3] |
End point list for x, y, z coordinates. | |
std::vector< EndPoint * > | velist [3] |
vector version of elist, for acceleration | |
std::list< SaPAABB * > | AABB_arr |
SAP interval list. | |
std::list< SaPPair > | overlap_pairs |
The pair of objects that should further check for collision. | |
size_t | optimal_axis |
std::map< CollisionObject *, SaPAABB * > | obj_aabb_map |
Rigorous SAP collision manager.
fcl::SaPCollisionManager::SaPCollisionManager | ( | ) | [inline] |
References elist, and optimal_axis.
fcl::SaPCollisionManager::~SaPCollisionManager | ( | ) | [inline] |
References clear().
void fcl::SaPCollisionManager::addToOverlapPairs | ( | const SaPPair & | p | ) | [inline, protected] |
References overlap_pairs.
void fcl::SaPCollisionManager::clear | ( | ) | [virtual] |
void fcl::SaPCollisionManager::collide | ( | CollisionObject * | obj, |
void * | cdata, | ||
CollisionCallBack | callback | ||
) | const [virtual] |
perform collision test between one object and all the objects belonging to the manager
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::collide | ( | void * | cdata, |
CollisionCallBack | callback | ||
) | const [virtual] |
perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::collide | ( | BroadPhaseCollisionManager * | other_manager, |
void * | cdata, | ||
CollisionCallBack | callback | ||
) | const [virtual] |
perform collision test with objects belonging to another manager
Implements fcl::BroadPhaseCollisionManager.
bool fcl::SaPCollisionManager::collide_ | ( | CollisionObject * | obj, |
void * | cdata, | ||
CollisionCallBack | callback | ||
) | const [protected] |
void fcl::SaPCollisionManager::distance | ( | CollisionObject * | obj, |
void * | cdata, | ||
DistanceCallBack | callback | ||
) | const [virtual] |
perform distance computation between one object and all the objects belonging to the manager
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::distance | ( | void * | cdata, |
DistanceCallBack | callback | ||
) | const [virtual] |
perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::distance | ( | BroadPhaseCollisionManager * | other_manager, |
void * | cdata, | ||
DistanceCallBack | callback | ||
) | const [virtual] |
perform distance test with objects belonging to another manager
Implements fcl::BroadPhaseCollisionManager.
bool fcl::SaPCollisionManager::distance_ | ( | CollisionObject * | obj, |
void * | cdata, | ||
DistanceCallBack | callback, | ||
FCL_REAL & | min_dist | ||
) | const [protected] |
bool fcl::SaPCollisionManager::empty | ( | ) | const [virtual] |
whether the manager is empty
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::getObjects | ( | std::vector< CollisionObject * > & | objs | ) | const [virtual] |
return the objects managed by the manager
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::registerObject | ( | CollisionObject * | obj | ) | [virtual] |
remove one object from the manager
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::registerObjects | ( | const std::vector< CollisionObject * > & | other_objs | ) | [virtual] |
add objects to the manager
Reimplemented from fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::removeFromOverlapPairs | ( | const SaPPair & | p | ) | [inline, protected] |
References overlap_pairs.
void fcl::SaPCollisionManager::setup | ( | ) | [virtual] |
initialize the manager, related with the specific type of manager
Implements fcl::BroadPhaseCollisionManager.
size_t fcl::SaPCollisionManager::size | ( | ) | const [inline, virtual] |
the number of objects managed by the manager
Implements fcl::BroadPhaseCollisionManager.
References AABB_arr.
Referenced by updateVelist().
void fcl::SaPCollisionManager::unregisterObject | ( | CollisionObject * | obj | ) | [virtual] |
add one object to the manager
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::update | ( | ) | [virtual] |
update the condition of manager
Implements fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::update | ( | CollisionObject * | updated_obj | ) | [virtual] |
update the manager by explicitly given the object updated
Reimplemented from fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::update | ( | const std::vector< CollisionObject * > & | updated_objs | ) | [virtual] |
update the manager by explicitly given the set of objects update
Reimplemented from fcl::BroadPhaseCollisionManager.
void fcl::SaPCollisionManager::update_ | ( | SaPAABB * | updated_aabb | ) | [protected] |
void fcl::SaPCollisionManager::updateVelist | ( | ) | [inline, protected] |
References elist, fcl::SaPCollisionManager::EndPoint::next, size(), and velist.
std::list<SaPAABB*> fcl::SaPCollisionManager::AABB_arr [protected] |
SAP interval list.
Referenced by size().
EndPoint* fcl::SaPCollisionManager::elist[3] [protected] |
End point list for x, y, z coordinates.
Referenced by SaPCollisionManager(), and updateVelist().
std::map<CollisionObject*, SaPAABB*> fcl::SaPCollisionManager::obj_aabb_map [protected] |
size_t fcl::SaPCollisionManager::optimal_axis [protected] |
Referenced by SaPCollisionManager().
std::list<SaPPair> fcl::SaPCollisionManager::overlap_pairs [protected] |
The pair of objects that should further check for collision.
Referenced by addToOverlapPairs(), and removeFromOverlapPairs().
std::vector<EndPoint*> fcl::SaPCollisionManager::velist[3] [protected] |
vector version of elist, for acceleration
Referenced by updateVelist().