Collision::DistanceCallback Class Reference

#include <collisionAlgorithms.h>

Inheritance diagram for Collision::DistanceCallback:

[legend]

List of all members.

Public Member Functions
	DistanceCallback (const CollisionModel *m1, const CollisionModel *m2)
virtual bool	distanceTest (double dSq)
void	getClosestPoints (position &p1, position &p2) const
double	getMin () const
virtual void	leafTest (const Leaf *l1, const Leaf *l2)
void	printStatistics ()
virtual double	quickTest (const Node *n1, const Node *n2)
virtual void	reset ()
Private Attributes
double	mMinDistSq
position	mP1
position	mP2

---

Detailed Description

Recursion callback for the distance test.

• leaf test - distance between triangles
• quick test - returns the distance between bounding boxes
• distance test - if distance between bounding boxes is more than smallest distance found so far, or the bodies have already been found to interpenetrate, no need to recurse.

Definition at line 187 of file collisionAlgorithms.h.

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Constructor & Destructor Documentation

Collision::DistanceCallback::DistanceCallback	(	const CollisionModel *	m1,
		const CollisionModel *	m2
	)			[inline]

Definition at line 193 of file collisionAlgorithms.h.

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Member Function Documentation

virtual bool Collision::DistanceCallback::distanceTest

(

double

dSq

)

[inline, virtual]

Implements Collision::RecursionCallback.

Definition at line 202 of file collisionAlgorithms.h.

void Collision::DistanceCallback::getClosestPoints	(	position &	p1,
		position &	p2
	)			const [inline]

Definition at line 208 of file collisionAlgorithms.h.

double Collision::DistanceCallback::getMin

(

)

const [inline]

Definition at line 207 of file collisionAlgorithms.h.

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

Implements Collision::RecursionCallback.

Definition at line 176 of file collisionAlgorithms_inl.h.

void Collision::DistanceCallback::printStatistics

(

)

[virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 216 of file collisionAlgorithms.cpp.

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

Implements Collision::RecursionCallback.

Definition at line 168 of file collisionAlgorithms_inl.h.

virtual void Collision::DistanceCallback::reset

(

)

[inline, virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 195 of file collisionAlgorithms.h.

---

Member Data Documentation

double Collision::DistanceCallback::mMinDistSq [private]

Definition at line 190 of file collisionAlgorithms.h.

position Collision::DistanceCallback::mP1 [private]

Definition at line 191 of file collisionAlgorithms.h.

position Collision::DistanceCallback::mP2 [private]

Definition at line 191 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