collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...

Public Types
typedef std::size_t(*	CollisionFunc) (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	the uniform call interface for collision: for collision, we need know More...

Public Attributes
CollisionFunc	collision_matrix [NODE_COUNT][NODE_COUNT]
	each item in the collision matrix is a function to handle collision between objects of type1 and type2 More...

Detailed Description

collision matrix stores the functions for collision between different types of objects and provides a uniform call interface

Member Typedef Documentation

typedef std::size_t(* coal::CollisionFunctionMatrix::CollisionFunc) (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)

the uniform call interface for collision: for collision, we need know

two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;
the solver for narrow phase collision, this is for the collision between geometric shapes;
the request setting for collision (e.g., whether need to return normal information, whether need to compute cost);
the structure to return collision result

coal::CollisionFunctionMatrix::CollisionFunctionMatrix ( )

Definition at line 277 of file collision_func_matrix.cpp.

CollisionFunc coal::CollisionFunctionMatrix::collision_matrix[NODE_COUNT][NODE_COUNT]

each item in the collision matrix is a function to handle collision between objects of type1 and type2

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