Collision manager based on interval tree. More...

#include <broadphase_interval_tree.h>

Inheritance diagram for fcl::IntervalTreeCollisionManager:

Classes
struct	EndPoint
	SAP end point. More...
struct	SAPInterval
	Extention interval tree's interval to SAP interval, adding more information. More...
Public Member Functions
void	clear ()
	clear the manager
void	collide (CollisionObject obj, void cdata, CollisionCallBack callback) const
	perform collision test between one object and all the objects belonging to the manager
void	collide (void *cdata, CollisionCallBack callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void	collide (BroadPhaseCollisionManager other_manager, void cdata, CollisionCallBack callback) const
	perform collision test with objects belonging to another manager
void	distance (CollisionObject obj, void cdata, DistanceCallBack callback) const
	perform distance computation between one object and all the objects belonging to the manager
void	distance (void *cdata, DistanceCallBack callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void	distance (BroadPhaseCollisionManager other_manager, void cdata, DistanceCallBack callback) const
	perform distance test with objects belonging to another manager
bool	empty () const
	whether the manager is empty
void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager
	IntervalTreeCollisionManager ()
void	registerObject (CollisionObject *obj)
	remove one object from the manager
void	setup ()
	initialize the manager, related with the specific type of manager
size_t	size () const
	the number of objects managed by the manager
void	unregisterObject (CollisionObject *obj)
	add one object to the manager
void	update ()
	update the condition of manager
void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated
void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update
	~IntervalTreeCollisionManager ()
Protected Member Functions
bool	checkColl (std::deque< SimpleInterval * >::const_iterator pos_start, std::deque< SimpleInterval * >::const_iterator pos_end, CollisionObject obj, void cdata, CollisionCallBack callback) const
bool	checkDist (std::deque< SimpleInterval * >::const_iterator pos_start, std::deque< SimpleInterval * >::const_iterator pos_end, CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
bool	collide_ (CollisionObject obj, void cdata, CollisionCallBack callback) const
bool	distance_ (CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
Protected Attributes
std::vector< EndPoint >	endpoints [3]
	vector stores all the end points
IntervalTree *	interval_trees [3]
	interval tree manages the intervals
std::map< CollisionObject , SAPInterval >	obj_interval_maps [3]
bool	setup_
	tag for whether the interval tree is maintained suitably

Detailed Description

Collision manager based on interval tree.

Definition at line 49 of file broadphase_interval_tree.h.

Constructor & Destructor Documentation

fcl::IntervalTreeCollisionManager::IntervalTreeCollisionManager ( ) [inline]

Definition at line 52 of file broadphase_interval_tree.h.

fcl::IntervalTreeCollisionManager::~IntervalTreeCollisionManager ( ) [inline]

Definition at line 58 of file broadphase_interval_tree.h.

Member Function Documentation

bool fcl::IntervalTreeCollisionManager::checkColl	(	std::deque< SimpleInterval * >::const_iterator	pos_start,
		std::deque< SimpleInterval * >::const_iterator	pos_end,
		CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[protected]`

Definition at line 598 of file broadphase_interval_tree.cpp.

bool fcl::IntervalTreeCollisionManager::checkDist	(	std::deque< SimpleInterval * >::const_iterator	pos_start,
		std::deque< SimpleInterval * >::const_iterator	pos_end,
		CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const `[protected]`

Definition at line 618 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::clear ( ) [virtual]

clear the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 298 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::collide	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 336 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::collide	(	void *	cdata,
		CollisionCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 471 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[virtual]`

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 543 of file broadphase_interval_tree.cpp.

bool fcl::IntervalTreeCollisionManager::collide_	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[protected]`

Definition at line 342 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::distance	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 378 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::distance	(	void *	cdata,
		DistanceCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 528 of file broadphase_interval_tree.cpp.

void fcl::IntervalTreeCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		DistanceCallBack	callback
	)		const `[virtual]`

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 567 of file broadphase_interval_tree.cpp.

bool fcl::IntervalTreeCollisionManager::distance_	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const `[protected]`