Struct CollisionFunctionMatrix

• Defined in File collision_func_matrix.h

Struct Documentation

struct CollisionFunctionMatrix

collision matrix stores the functions for collision between different types of objects and provides a uniform call interface

Public Types

typedef std::size_t (*CollisionFunc)(const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)

the uniform call interface for collision: for collision, we need know

1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;

2. the solver for narrow phase collision, this is for the collision between geometric shapes;

3. the request setting for collision (e.g., whether need to return normal information, whether need to compute cost);

4. the structure to return collision result

Public Functions

CollisionFunctionMatrix()

Public Members

CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT]

each item in the collision matrix is a function to handle collision between objects of type1 and type2