38 #ifndef HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H 39 #define HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H 51 using Base::getObjects;
56 void registerObjects(
const std::vector<CollisionObject*>& other_objs);
68 virtual void update();
74 void getObjects(std::vector<CollisionObject*>& objs)
const;
108 std::list<CollisionObject*>
objs;
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
std::list< CollisionObject * > objs
objects belonging to the manager are stored in a list structure
Definition: broadphase_bruteforce.h:108
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.
BroadPhaseCollisionManager Base
Definition: broadphase_bruteforce.h:50
Brute force N-body collision manager.
Definition: broadphase_bruteforce.h:48
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.
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:215
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:88