#include <ColdetModelPair.h>

Inheritance diagram for hrp::ColdetModelPair:

Classes
struct	figStruct
struct	pointStruct
Public Member Functions
int	calculateCentroidIntersection (float &cx, float &cy, float &A, float radius, std::vector< float > vx, std::vector< float > vy)
int	calculateIntersection (std::vector< float > &x, std::vector< float > &y, float radius, float x1, float y1, float x2, float y2)
float	calculatePolygonArea (const std::vector< float > &vx, const std::vector< float > &vy)
void	calculateSectorCentroid (float &cx, float &cy, float radius, float th1, float th2)
bool	checkCollision ()
void	clearCollisions ()
	ColdetModelPair ()
	ColdetModelPair (ColdetModelPtr model0, ColdetModelPtr model1, double tolerance=0)
	ColdetModelPair (const ColdetModelPair &org)
std::vector< collision_data > &	collisions ()
double	computeDistance (double point0, double point1)
double	computeDistance (int &out_triangle0, double out_point0, int &out_triangle1, double out_point1)
std::vector< collision_data > &	detectCollisions ()
bool	detectIntersection ()
void	enableNormalVectorCorrection (bool flag)
bool	isInsideCircle (float r, float x, float y)
bool	isInsideTriangle (float x, float y, const std::vector< float > &vx, const std::vector< float > &vy)
int	makeCCW (std::vector< float > &vx, std::vector< float > &vy)
ColdetModel *	model (int index)
ColdetModelPair &	operator= (const ColdetModelPair &cmp)
void	set (ColdetModelPtr model0, ColdetModelPtr model1)
void	setCollisionPairInserter (CollisionPairInserterBase *inserter)
double	tolerance () const
IceMaths::Matrix4x4 *	transform (int index)
virtual	~ColdetModelPair ()
Private Types
enum	figType { tri, sector }
enum	pointType { vertex, inter }
Private Member Functions
std::vector< collision_data > &	detectCollisionsSub (bool detectAllContacts)
bool	detectMeshMeshCollisions (bool detectAllContacts)
bool	detectPlaneCylinderCollisions (bool detectAllContacts)
bool	detectPlaneMeshCollisions (bool detectAllContacts)
bool	detectSphereMeshCollisions (bool detectAllContacts)
bool	detectSphereSphereCollisions (bool detectAllContacts)
Private Attributes
int	boxTestsCount
CollisionPairInserterBase *	collisionPairInserter
ColdetModelPtr	models [2]
double	tolerance_
int	triTestsCount

Detailed Description

Definition at line 29 of file ColdetModelPair.h.

Member Enumeration Documentation

enum hrp::ColdetModelPair::figType [private]

Enumerator:

tri
sector

Definition at line 108 of file ColdetModelPair.h.

enum hrp::ColdetModelPair::pointType [private]

Enumerator:

vertex
inter

Definition at line 107 of file ColdetModelPair.h.

Constructor & Destructor Documentation

ColdetModelPair::ColdetModelPair ( )

Definition at line 25 of file ColdetModelPair.cpp.

ColdetModelPair::ColdetModelPair	(	ColdetModelPtr	model0,
		ColdetModelPtr	model1,
		double	tolerance = `0`
	)

Definition at line 31 of file ColdetModelPair.cpp.

ColdetModelPair::ColdetModelPair ( const ColdetModelPair & org )

Definition at line 40 of file ColdetModelPair.cpp.

ColdetModelPair::~ColdetModelPair ( ) [virtual]

Definition at line 48 of file ColdetModelPair.cpp.

Member Function Documentation

int ColdetModelPair::calculateCentroidIntersection	(	float &	cx,
		float &	cy,
		float &	A,
		float	radius,
		std::vector< float >	vx,
		std::vector< float >	vy
	)

Definition at line 652 of file ColdetModelPair.cpp.

int ColdetModelPair::calculateIntersection	(	std::vector< float > &	x,
		std::vector< float > &	y,
		float	radius,
		float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 896 of file ColdetModelPair.cpp.

float ColdetModelPair::calculatePolygonArea	(	const std::vector< float > &	vx,
		const std::vector< float > &	vy
	)

Definition at line 834 of file ColdetModelPair.cpp.

void ColdetModelPair::calculateSectorCentroid	(	float &	cx,
		float &	cy,
		float	radius,
		float	th1,
		float	th2
	)

Definition at line 853 of file ColdetModelPair.cpp.

bool hrp::ColdetModelPair::checkCollision ( ) [inline]

Definition at line 55 of file ColdetModelPair.h.

void hrp::ColdetModelPair::clearCollisions ( ) [inline]

Definition at line 51 of file ColdetModelPair.h.

std::vector<collision_data>& hrp::ColdetModelPair::collisions ( ) [inline]

Definition at line 47 of file ColdetModelPair.h.

double ColdetModelPair::computeDistance	(	double *	point0,
		double *	point1
	)

Definition at line 568 of file ColdetModelPair.cpp.

double ColdetModelPair::computeDistance	(	int &	out_triangle0,
		double *	out_point0,
		int &	out_triangle1,
		double *	out_point1
	)

Parameters:

out_triangle0,out_triangle1	Indices of the triangle pair that are originally registered by ColdeModel::setTraiangle().
out_point0,out_point1	The closest points

Definition at line 595 of file ColdetModelPair.cpp.

std::vector<collision_data>& hrp::ColdetModelPair::detectCollisions ( ) [inline]

Definition at line 43 of file ColdetModelPair.h.

std::vector< collision_data > & ColdetModelPair::detectCollisionsSub ( bool detectAllContacts ) [private]

Definition at line 65 of file ColdetModelPair.cpp.

bool ColdetModelPair::detectIntersection ( )

Definition at line 625 of file ColdetModelPair.cpp.

bool ColdetModelPair::detectMeshMeshCollisions ( bool detectAllContacts ) [private]

Definition at line 154 of file ColdetModelPair.cpp.

bool ColdetModelPair::detectPlaneCylinderCollisions ( bool detectAllContacts ) [private]

Definition at line 457 of file ColdetModelPair.cpp.

bool ColdetModelPair::detectPlaneMeshCollisions ( bool detectAllContacts ) [private]

Definition at line 100 of file ColdetModelPair.cpp.

bool ColdetModelPair::detectSphereMeshCollisions ( bool detectAllContacts ) [private]

Definition at line 249 of file ColdetModelPair.cpp.

bool ColdetModelPair::detectSphereSphereCollisions ( bool detectAllContacts ) [private]

Definition at line 191 of file ColdetModelPair.cpp.

void hrp::ColdetModelPair::enableNormalVectorCorrection ( bool flag ) [inline]

Definition at line 88 of file ColdetModelPair.h.

bool hrp::ColdetModelPair::isInsideCircle	(	float	r,
		float	x,
		float	y
	)		`[inline]`

Definition at line 80 of file ColdetModelPair.h.

bool ColdetModelPair::isInsideTriangle	(	float	x,
		float	y,
		const std::vector< float > &	vx,
		const std::vector< float > &	vy
	)

Definition at line 871 of file ColdetModelPair.cpp.

int ColdetModelPair::makeCCW	(	std::vector< float > &	vx,
		std::vector< float > &	vy
	)

Definition at line 819 of file ColdetModelPair.cpp.

ColdetModel* hrp::ColdetModelPair::model ( int index ) [inline]

Definition at line 40 of file ColdetModelPair.h.

ColdetModelPair & ColdetModelPair::operator= ( const ColdetModelPair & cmp )

Definition at line 971 of file ColdetModelPair.cpp.

void ColdetModelPair::set	(	ColdetModelPtr	model0,
		ColdetModelPtr	model1
	)

Definition at line 54 of file ColdetModelPair.cpp.

void ColdetModelPair::setCollisionPairInserter ( CollisionPairInserterBase * inserter )

Definition at line 643 of file ColdetModelPair.cpp.

double hrp::ColdetModelPair::tolerance ( ) const [inline]

Definition at line 69 of file ColdetModelPair.h.

IceMaths::Matrix4x4* hrp::ColdetModelPair::transform ( int index ) [inline]

Definition at line 41 of file ColdetModelPair.h.

Member Data Documentation

int hrp::ColdetModelPair::boxTestsCount [private]

Definition at line 104 of file ColdetModelPair.h.

CollisionPairInserterBase* hrp::ColdetModelPair::collisionPairInserter [private]

Definition at line 102 of file ColdetModelPair.h.

ColdetModelPtr hrp::ColdetModelPair::models[2] [private]

Definition at line 99 of file ColdetModelPair.h.

double hrp::ColdetModelPair::tolerance_ [private]

Definition at line 100 of file ColdetModelPair.h.

int hrp::ColdetModelPair::triTestsCount [private]

Definition at line 105 of file ColdetModelPair.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation