Collision::ContactCallback Class Reference

#include <collisionAlgorithms.h>

Inheritance diagram for Collision::ContactCallback:

[legend]

List of all members.

Public Member Functions
	ContactCallback (double threshold, const CollisionModel *m1, const CollisionModel *m2)
virtual bool	distanceTest (double dSq)
const ContactReport &	getReport ()
virtual void	leafTest (const Leaf *l1, const Leaf *l2)
void	printStatistics ()
virtual double	quickTest (const Node *n1, const Node *n2)
virtual void	reset ()
Private Member Functions
void	insertContactNoDuplicates (const position &p1, const position &p2, const vec3 &n1, const vec3 &n2, double distSq, double thresh)
Private Attributes
ContactReport	mReport
double	mThreshold

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Detailed Description

Recursion callback for the contact test.

• leaf test - checks for contact points between triangles
• quick test - returns the distance between bounding boxes
• distance test - if distance between bounding boxes is more than contact threshold, no need to recurse.

Definition at line 151 of file collisionAlgorithms.h.

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Constructor & Destructor Documentation

Collision::ContactCallback::ContactCallback	(	double	threshold,
		const CollisionModel *	m1,
		const CollisionModel *	m2
	)			[inline]

Definition at line 161 of file collisionAlgorithms.h.

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Member Function Documentation

virtual bool Collision::ContactCallback::distanceTest

(

double

dSq

)

[inline, virtual]

Implements Collision::RecursionCallback.

Definition at line 170 of file collisionAlgorithms.h.

const ContactReport& Collision::ContactCallback::getReport

(

)

[inline]

Definition at line 174 of file collisionAlgorithms.h.

void Collision::ContactCallback::insertContactNoDuplicates	(	const position &	p1,
		const position &	p2,
		const vec3 &	n1,
		const vec3 &	n2,
		double	distSq,
		double	thresh
	)			[private]

Inserts a contact into the list and checks for duplicates

Definition at line 172 of file collisionAlgorithms.cpp.

void Collision::ContactCallback::leafTest	(	const Leaf *	l1,
		const Leaf *	l2
	)			[virtual]

Check if triangles touch. Add contact to result set if they do

Implements Collision::RecursionCallback.

Definition at line 97 of file collisionAlgorithms_inl.h.

void Collision::ContactCallback::printStatistics

(

)

[virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 209 of file collisionAlgorithms.cpp.

double Collision::ContactCallback::quickTest	(	const Node *	n1,
		const Node *	n2
	)			[virtual]

Distance between bounding boxes

Implements Collision::RecursionCallback.

Definition at line 88 of file collisionAlgorithms_inl.h.

virtual void Collision::ContactCallback::reset

(

)

[inline, virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 164 of file collisionAlgorithms.h.

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Member Data Documentation

ContactReport Collision::ContactCallback::mReport [private]

Definition at line 155 of file collisionAlgorithms.h.

double Collision::ContactCallback::mThreshold [private]

Definition at line 154 of file collisionAlgorithms.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.cpp
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms_inl.h