Template Class BroadPhaseContinuousCollisionManager

Defined in File broadphase_continuous_collision_manager.h

Class Documentation

template<typename S> class BroadPhaseContinuousCollisionManager

Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.

Public Functions

BroadPhaseContinuousCollisionManager()

virtual ~BroadPhaseContinuousCollisionManager()

virtual void registerObjects(const std::vector<ContinuousCollisionObject*> &other_objs): add objects to the manager

virtual void registerObject(ContinuousCollisionObject *obj) = 0: add one object to the manager

virtual void unregisterObject(ContinuousCollisionObject *obj) = 0: remove one object from the manager

virtual void setup() = 0: initialize the manager, related with the specific type of manager

virtual void update() = 0: update the condition of manager

virtual void update(ContinuousCollisionObject *updated_obj): update the manager by explicitly given the object updated

virtual void update(const std::vector<ContinuousCollisionObject*> &updated_objs): update the manager by explicitly given the set of objects update

virtual void clear() = 0: clear the manager

virtual void getObjects(std::vector<ContinuousCollisionObject*> &objs) const = 0: return the objects managed by the manager

virtual void collide(ContinuousCollisionObject *obj, CollisionCallBackBase *callback) const = 0: perform collision test between one object and all the objects belonging to the manager

virtual void distance(ContinuousCollisionObject *obj, DistanceCallBackBase *callback) const = 0: perform distance computation between one object and all the objects belonging to the manager

virtual void collide(CollisionCallBackBase *callback) const = 0: perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

virtual void distance(DistanceCallBackBase *callback) const = 0: perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

virtual void collide(BroadPhaseContinuousCollisionManager *other_manager, CollisionCallBackBase *callback) const = 0: perform collision test with objects belonging to another manager

virtual void distance(BroadPhaseContinuousCollisionManager *other_manager, DistanceCallBackBase *callback) const = 0: perform distance test with objects belonging to another manager

virtual bool empty() const = 0: whether the manager is empty

virtual size_t size() const = 0: the number of objects managed by the manager