hpp-fcl  2.3.6
HPP fork of FCL -- The Flexible Collision Library
broadphase_dynamic_AABB_tree.h
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35 
38 #ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
39 #define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
40 
41 #include <unordered_map>
42 #include <functional>
43 
44 #include "hpp/fcl/fwd.hh"
45 // #include "hpp/fcl/BV/utility.h"
47 // #include "hpp/fcl/geometry/shape/utility.h"
50 
51 namespace hpp {
52 namespace fcl {
53 
56  public:
58  using Base::getObjects;
59 
61  using DynamicAABBTable =
62  std::unordered_map<CollisionObject*, DynamicAABBNode*>;
63 
66  int* tree_topdown_balance_threshold{nullptr};
67  int* tree_topdown_level{nullptr};
69 
72 
74 
76  void registerObjects(const std::vector<CollisionObject*>& other_objs);
77 
79  void registerObject(CollisionObject* obj);
80 
82  void unregisterObject(CollisionObject* obj);
83 
85  void setup();
86 
88  virtual void update();
89 
91  void update(CollisionObject* updated_obj);
92 
94  void update(const std::vector<CollisionObject*>& updated_objs);
95 
97  void clear();
98 
100  void getObjects(std::vector<CollisionObject*>& objs) const;
101 
104  void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
105 
108  void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
109 
112  void collide(CollisionCallBackBase* callback) const;
113 
116  void distance(DistanceCallBackBase* callback) const;
117 
119  void collide(BroadPhaseCollisionManager* other_manager_,
120  CollisionCallBackBase* callback) const;
121 
123  void distance(BroadPhaseCollisionManager* other_manager_,
124  DistanceCallBackBase* callback) const;
125 
127  bool empty() const;
128 
130  size_t size() const;
131 
133  const detail::HierarchyTree<AABB>& getTree() const;
134 
136  detail::HierarchyTree<AABB>& getTree();
137 
138  private:
140  std::unordered_map<CollisionObject*, DynamicAABBNode*> table;
141 
142  bool setup_;
143 
144  void update_(CollisionObject* updated_obj);
145 };
146 
147 } // namespace fcl
148 
149 } // namespace hpp
150 
152 
153 #endif
int tree_init_level
Definition: broadphase_dynamic_AABB_tree.h:68
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:54
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
bool octree_as_geometry_distance
Definition: broadphase_dynamic_AABB_tree.h:71
int max_tree_nonbalanced_level
Definition: broadphase_dynamic_AABB_tree.h:64
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Class for hierarchy tree structure.
Definition: hierarchy_tree.h:57
Definition: broadphase_dynamic_AABB_tree.h:54
int tree_incremental_balance_pass
Definition: broadphase_dynamic_AABB_tree.h:65
bool octree_as_geometry_collide
Definition: broadphase_dynamic_AABB_tree.h:70
dynamic AABB tree node
Definition: node_base.h:50
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
BroadPhaseCollisionManager Base
Definition: broadphase_dynamic_AABB_tree.h:57
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:215
std::unordered_map< CollisionObject *, DynamicAABBNode * > DynamicAABBTable
Definition: broadphase_dynamic_AABB_tree.h:62
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73
#define HPP_FCL_DLLAPI
Definition: config.hh:64