Rigorous SAP collision manager. More...

#include <broadphase_SaP.h>

Inheritance diagram for coal::SaPCollisionManager:

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	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...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 Types
typedef BroadPhaseCollisionManager	Base

Public Member Functions
void	clear ()
	clear the manager More...

void	collide (BroadPhaseCollisionManager other_manager, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager More...

void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	collide (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const
	perform distance test with objects belonging to another manager More...

void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

bool	empty () const
	whether the manager is empty More...

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager More...

virtual void	getObjects (std::vector< CollisionObject * > &objs) const=0
	return the objects managed by the manager More...

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager More...

	SaPCollisionManager ()

void	setup ()
	initialize the manager, related with the specific type of manager More...

size_t	size () const
	the number of objects managed by the manager More...

void	unregisterObject (CollisionObject *obj)
	add one object to the manager More...

virtual void	update ()
	update the condition of manager More...

void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update More...

	~SaPCollisionManager ()

Public Member Functions inherited from coal::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
void	addToOverlapPairs (const SaPPair &p)

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, CoalScalar &min_dist) const

void	removeFromOverlapPairs (const SaPPair &p)

void	update_ (SaPAABB *updated_aabb)

void	updateVelist ()

Protected Member Functions inherited from coal::BroadPhaseCollisionManager
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
std::list< SaPAABB * >	AABB_arr
	SAP interval list. More...

EndPoint *	elist [3]
	End point list for x, y, z coordinates. More...

std::map< CollisionObject , SaPAABB >	obj_aabb_map

int	optimal_axis

std::list< SaPPair >	overlap_pairs
	The pair of objects that should further check for collision. More...

std::vector< EndPoint * >	velist [3]
	vector version of elist, for acceleration More...

Protected Attributes inherited from coal::BroadPhaseCollisionManager
bool	enable_tested_set_

std::set< std::pair< CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

Detailed Description

Rigorous SAP collision manager.

Definition at line 49 of file coal/broadphase/broadphase_SaP.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager coal::SaPCollisionManager::Base

Definition at line 51 of file coal/broadphase/broadphase_SaP.h.

Constructor & Destructor Documentation

◆ SaPCollisionManager()

coal::SaPCollisionManager::SaPCollisionManager ( )

Definition at line 84 of file broadphase_SaP.cpp.

◆ ~SaPCollisionManager()

coal::SaPCollisionManager::~SaPCollisionManager ( )

Definition at line 93 of file broadphase_SaP.cpp.

Member Function Documentation

◆ addToOverlapPairs()

void coal::SaPCollisionManager::addToOverlapPairs ( const SaPPair & p )

protected

Definition at line 549 of file broadphase_SaP.cpp.

◆ clear()

void coal::SaPCollisionManager::clear ( )

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 470 of file broadphase_SaP.cpp.

◆ collide() [1/3]

void coal::SaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 720 of file broadphase_SaP.cpp.

◆ collide() [2/3]

void coal::SaPCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements coal::BroadPhaseCollisionManager.

Definition at line 688 of file broadphase_SaP.cpp.

◆ collide() [3/3]

void coal::SaPCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 576 of file broadphase_SaP.cpp.

◆ collide_()

bool coal::SaPCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 504 of file broadphase_SaP.cpp.

◆ distance() [1/3]

void coal::SaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 747 of file broadphase_SaP.cpp.

◆ distance() [2/3]

void coal::SaPCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 677 of file broadphase_SaP.cpp.

◆ distance() [3/3]

void coal::SaPCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements coal::BroadPhaseCollisionManager.

Definition at line 702 of file broadphase_SaP.cpp.

◆ distance_()

bool coal::SaPCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		CoalScalar &	min_dist
	)		const

protected

Definition at line 585 of file broadphase_SaP.cpp.

◆ empty()

bool coal::SaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

Definition at line 776 of file broadphase_SaP.cpp.

◆ getObjects() [1/3]

virtual std::vector<CollisionObject*> coal::BroadPhaseCollisionManager::getObjects

inline

return the objects managed by the manager

Definition at line 87 of file coal/broadphase/broadphase_collision_manager.h.

◆ getObjects() [2/3]

void coal::SaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 493 of file broadphase_SaP.cpp.

◆ getObjects() [3/3]

virtual void coal::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

void coal::SaPCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 182 of file broadphase_SaP.cpp.

◆ registerObjects()

void coal::SaPCollisionManager::registerObjects ( const std::vector< CollisionObject * > & other_objs )

virtual

add objects to the manager

Reimplemented from coal::BroadPhaseCollisionManager.

Definition at line 96 of file broadphase_SaP.cpp.

◆ removeFromOverlapPairs()

void coal::SaPCollisionManager::removeFromOverlapPairs ( const SaPPair & p )

protected

Definition at line 563 of file broadphase_SaP.cpp.

◆ setup()

void coal::SaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 273 of file broadphase_SaP.cpp.

◆ size()

size_t coal::SaPCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 779 of file broadphase_SaP.cpp.

◆ unregisterObject()

void coal::SaPCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 43 of file broadphase_SaP.cpp.

◆ update() [1/3]

void coal::SaPCollisionManager::update ( )

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 459 of file broadphase_SaP.cpp.

◆ update() [2/3]

void coal::SaPCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

Definition at line 439 of file broadphase_SaP.cpp.

◆ update() [3/3]

void coal::SaPCollisionManager::update ( const std::vector< CollisionObject * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from coal::BroadPhaseCollisionManager.

Definition at line 448 of file broadphase_SaP.cpp.

◆ update_()

void coal::SaPCollisionManager::update_ ( SaPAABB * updated_aabb )

protected

Definition at line 288 of file broadphase_SaP.cpp.

◆ updateVelist()

void coal::SaPCollisionManager::updateVelist ( )

protected

Definition at line 425 of file broadphase_SaP.cpp.

Member Data Documentation

◆ AABB_arr

std::list<SaPAABB*> coal::SaPCollisionManager::AABB_arr

protected

SAP interval list.

Definition at line 203 of file coal/broadphase/broadphase_SaP.h.

◆ elist

EndPoint* coal::SaPCollisionManager::elist[3]

protected

End point list for x, y, z coordinates.

Definition at line 197 of file coal/broadphase/broadphase_SaP.h.

◆ obj_aabb_map

std::map<CollisionObject*, SaPAABB*> coal::SaPCollisionManager::obj_aabb_map

protected

Definition at line 210 of file coal/broadphase/broadphase_SaP.h.

◆ optimal_axis

int coal::SaPCollisionManager::optimal_axis

protected

Definition at line 208 of file coal/broadphase/broadphase_SaP.h.

◆ overlap_pairs

std::list<SaPPair> coal::SaPCollisionManager::overlap_pairs

protected

The pair of objects that should further check for collision.

Definition at line 206 of file coal/broadphase/broadphase_SaP.h.

◆ velist

std::vector<EndPoint*> coal::SaPCollisionManager::velist[3]

protected

vector version of elist, for acceleration

Definition at line 200 of file coal/broadphase/broadphase_SaP.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SaPCollisionManager()

◆ ~SaPCollisionManager()

Member Function Documentation

◆ addToOverlapPairs()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ registerObjects()

◆ removeFromOverlapPairs()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ update_()

◆ updateVelist()

Member Data Documentation

◆ AABB_arr

◆ elist

◆ obj_aabb_map

◆ optimal_axis

◆ overlap_pairs

◆ velist