Class DynamicAABBTreeArrayCollisionManager

Defined in File broadphase_dynamic_AABB_tree_array.h

Inheritance Relationships

Base Type

public hpp::fcl::BroadPhaseCollisionManager (Class BroadPhaseCollisionManager)

Class Documentation

class DynamicAABBTreeArrayCollisionManager : public hpp::fcl::BroadPhaseCollisionManager 

Public Types

typedef BroadPhaseCollisionManager Base

using DynamicAABBNode = detail::implementation_array::NodeBase<AABB>

using DynamicAABBTable = std::unordered_map<CollisionObject*, size_t>

Public Functions

DynamicAABBTreeArrayCollisionManager()

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

virtual void registerObject(CollisionObject *obj): add one object to the manager

virtual void unregisterObject(CollisionObject *obj): remove one object from the manager

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

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

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

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

virtual void clear(): clear the manager

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

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

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

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

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

virtual void collide(BroadPhaseCollisionManager *other_manager_, CollisionCallBackBase *callback) const: perform collision test with objects belonging to another manager

virtual void distance(BroadPhaseCollisionManager *other_manager_, DistanceCallBackBase *callback) const: perform distance test with objects belonging to another manager

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

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

const detail::implementation_array::HierarchyTree<AABB> &getTree() const

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

inline std::vector<CollisionObject*> getObjects() const: return the objects managed by the manager

Public Members

int max_tree_nonbalanced_level

int tree_incremental_balance_pass

int *tree_topdown_balance_threshold = {nullptr}

int *tree_topdown_level = {nullptr}

int tree_init_level

bool octree_as_geometry_collide

bool octree_as_geometry_distance