Rigorous SAP collision manager. More...

#include <broadphase_SaP.h>

Inheritance diagram for fcl::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	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...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 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
void	registerObject (CollisionObject *obj)
	remove one object from the manager
void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager
	SaPCollisionManager ()
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
	~SaPCollisionManager ()
Protected Member Functions
void	addToOverlapPairs (const SaPPair &p)
bool	collide_ (CollisionObject obj, void cdata, CollisionCallBack callback) const
bool	distance_ (CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
void	removeFromOverlapPairs (const SaPPair &p)
void	update_ (SaPAABB *updated_aabb)
void	updateVelist ()
Protected Attributes
std::list< SaPAABB * >	AABB_arr
	SAP interval list.
EndPoint *	elist [3]
	End point list for x, y, z coordinates.
std::map< CollisionObject , SaPAABB >	obj_aabb_map
size_t	optimal_axis
std::list< SaPPair >	overlap_pairs
	The pair of objects that should further check for collision.
std::vector< EndPoint * >	velist [3]
	vector version of elist, for acceleration

Detailed Description

Rigorous SAP collision manager.

Definition at line 49 of file broadphase_SaP.h.

Constructor & Destructor Documentation

fcl::SaPCollisionManager::SaPCollisionManager ( ) [inline]

Definition at line 53 of file broadphase_SaP.h.

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

Definition at line 62 of file broadphase_SaP.h.

Member Function Documentation

void fcl::SaPCollisionManager::addToOverlapPairs ( const SaPPair & p ) [inline, protected]

Definition at line 276 of file broadphase_SaP.h.

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

clear the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 459 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::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 538 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::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 660 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::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 693 of file broadphase_SaP.cpp.

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

Definition at line 495 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::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 651 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::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 674 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::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 723 of file broadphase_SaP.cpp.

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

Definition at line 545 of file broadphase_SaP.cpp.

bool fcl::SaPCollisionManager::empty ( ) const [virtual]

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager.

Definition at line 755 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const [virtual]

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 485 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::registerObject ( CollisionObject * obj ) [virtual]

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 175 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::registerObjects ( const std::vector< CollisionObject * > & other_objs ) [virtual]

add objects to the manager

Reimplemented from fcl::BroadPhaseCollisionManager.

Definition at line 90 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::removeFromOverlapPairs ( const SaPPair & p ) [inline, protected]

Definition at line 294 of file broadphase_SaP.h.

void fcl::SaPCollisionManager::setup ( ) [virtual]

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 273 of file broadphase_SaP.cpp.

size_t fcl::SaPCollisionManager::size ( ) const [inline, virtual]

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 116 of file broadphase_SaP.h.

void fcl::SaPCollisionManager::unregisterObject ( CollisionObject * obj ) [virtual]

add one object to the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 45 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::update ( ) [virtual]

update the condition of manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 446 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::update ( CollisionObject * updated_obj ) [virtual]

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager.

Definition at line 427 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::update ( const std::vector< CollisionObject * > & updated_objs ) [virtual]

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager.

Definition at line 436 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::update_ ( SaPAABB * updated_aabb ) [protected]

Definition at line 285 of file broadphase_SaP.cpp.

void fcl::SaPCollisionManager::updateVelist ( ) [inline, protected]

Definition at line 240 of file broadphase_SaP.h.

Member Data Documentation

std::list<SaPAABB*> fcl::SaPCollisionManager::AABB_arr [protected]

SAP interval list.

Definition at line 263 of file broadphase_SaP.h.

EndPoint* fcl::SaPCollisionManager::elist[3] [protected]

End point list for x, y, z coordinates.

Definition at line 257 of file broadphase_SaP.h.

std::map<CollisionObject*, SaPAABB*> fcl::SaPCollisionManager::obj_aabb_map [protected]

Definition at line 270 of file broadphase_SaP.h.

size_t fcl::SaPCollisionManager::optimal_axis [protected]

Definition at line 268 of file broadphase_SaP.h.

std::list<SaPPair> fcl::SaPCollisionManager::overlap_pairs [protected]

The pair of objects that should further check for collision.

Definition at line 266 of file broadphase_SaP.h.

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

vector version of elist, for acceleration

Definition at line 260 of file broadphase_SaP.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation