Inheritance diagram for hrp::CollisionPairInserterBase:

Public Member Functions
virtual int	apply (const Opcode::AABBCollisionNode b1, const Opcode::AABBCollisionNode b2, int id1, int id2, int num_of_i_points, Vector3 i_points[4], Vector3 &n_vector, double depth, Vector3 &n1, Vector3 &m1, int ctype, Opcode::MeshInterface mesh1, Opcode::MeshInterface mesh2)=0
	refine collision information using neighboring triangls
void	clear ()
	clear collision information
	CollisionPairInserterBase ()
std::vector< collision_data > &	collisions ()
	get collision information
virtual int	detectTriTriOverlap (const Vector3 &P1, const Vector3 &P2, const Vector3 &P3, const Vector3 &Q1, const Vector3 &Q2, const Vector3 &Q3, collision_data *col_p)=0
	detect collsiion between triangles
void	set (ColdetModelSharedDataSet model0, ColdetModelSharedDataSet model1)
virtual	~CollisionPairInserterBase ()
Public Attributes
Matrix33	CD_Rot1
	rotation of the first mesh
Matrix33	CD_Rot2
	rotation of the second mesh
double	CD_s1
	scale of the first mesh
double	CD_s2
	scale of the second mesh
Vector3	CD_Trans1
	translation of the first mesh
Vector3	CD_Trans2
	translation of the second mesh
std::vector< collision_data >	cdContact
	collision information
ColdetModelSharedDataSet *	models [2]
bool	normalVectorCorrection
	flag to enable/disable normal vector correction

Detailed Description

Constructor & Destructor Documentation

hrp::CollisionPairInserterBase::CollisionPairInserterBase ( ) [inline]

virtual hrp::CollisionPairInserterBase::~CollisionPairInserterBase ( ) [inline, virtual]

virtual int hrp::CollisionPairInserterBase::apply	(	const Opcode::AABBCollisionNode *	b1,
		const Opcode::AABBCollisionNode *	b2,
		int	id1,
		int	id2,
		int	num_of_i_points,
		Vector3	i_points[4],
		Vector3 &	n_vector,
		double	depth,
		Vector3 &	n1,
		Vector3 &	m1,
		int	ctype,
		Opcode::MeshInterface *	mesh1,
		Opcode::MeshInterface *	mesh2
	)		`[pure virtual]`

refine collision information using neighboring triangls

Parameters:

b1	node of the first colliding triangle
b2	node of the second colliding triangle
id1	id of the first colliding triangle
id2	id of the second colliding triangle
num_of_i_points	the number of intersecting points
i_points	intersecting points
n_vector	normal vector of collision
depth	penetration depth
n1	normal vector of the first triangle
m1	normal vector of the second triangle
ctype	collision type
mesh1	mesh which includes the first triangle
mesh2	mesh which includes the second triangle

void hrp::CollisionPairInserterBase::clear ( void ) [inline]

clear collision information

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

get collision information

virtual int hrp::CollisionPairInserterBase::detectTriTriOverlap	(	const Vector3 &	P1,
		const Vector3 &	P2,
		const Vector3 &	P3,
		const Vector3 &	Q1,
		const Vector3 &	Q2,
		const Vector3 &	Q3,
		collision_data *	col_p
	)		`[pure virtual]`

detect collsiion between triangles

Parameters:

P1	the first vertex of the first triangle
P2	the second vertex of the first triangle
P3	the third vertex of the first triangle
Q1	the first vertex of the second triangle
Q2	the second vertex of the second triangle
Q3	the third vertex of the second triangle
col_p	collision information