Collision manager based on interval tree. More...

#include <broadphase_interval_tree.h>

Inheritance diagram for fcl::IntervalTreeCollisionManager< S >:

Public Member Functions
void	clear ()
	clear the manager More...

void	collide (BroadPhaseCollisionManager< S > other_manager, void cdata, CollisionCallBack< S > callback) const
	perform collision test with objects belonging to another manager More...

void	collide (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	collide (void *cdata, CollisionCallBack< S > callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	distance (BroadPhaseCollisionManager< S > other_manager, void cdata, DistanceCallBack< S > callback) const
	perform distance test with objects belonging to another manager More...

void	distance (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	distance (void *cdata, DistanceCallBack< S > callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

bool	empty () const
	whether the manager is empty More...

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

	IntervalTreeCollisionManager ()

void	registerObject (CollisionObject< S > *obj)
	remove one object from the manager More...

void	setup ()
	initialize the manager, related with the specific type of manager More...

size_t	size () const
	the number of objects managed by the manager More...

void	unregisterObject (CollisionObject< S > *obj)
	add one object to the manager More...

void	update ()
	update the condition of manager More...

void	update (CollisionObject< S > *updated_obj)
	update the manager by explicitly given the object updated More...

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

	~IntervalTreeCollisionManager ()

Public Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
	BroadPhaseCollisionManager ()

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

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
bool	checkColl (typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const

bool	checkDist (typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const

bool	collide_ (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const

bool	distance_ (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const

Protected Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
void	insertTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

bool	inTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

Protected Attributes
std::vector< EndPoint >	endpoints [3]
	vector stores all the end points More...

detail::IntervalTree< S > *	interval_trees [3]
	interval tree manages the intervals More...

std::map< CollisionObject< S > , SAPInterval >	obj_interval_maps [3]

bool	setup_
	tag for whether the interval tree is maintained suitably More...

Protected Attributes inherited from fcl::BroadPhaseCollisionManager< S >
bool	enable_tested_set_

std::set< std::pair< CollisionObject< S > , CollisionObject< S > > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

Detailed Description

template<typename S>
class fcl::IntervalTreeCollisionManager< S >

Collision manager based on interval tree.

Definition at line 51 of file broadphase_interval_tree.h.

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

template<typename S >

fcl::IntervalTreeCollisionManager< S >::IntervalTreeCollisionManager ( )

◆ ~IntervalTreeCollisionManager()

template<typename S >

fcl::IntervalTreeCollisionManager< S >::~IntervalTreeCollisionManager ( )

Member Function Documentation

◆ checkColl()

template<typename S >

bool fcl::IntervalTreeCollisionManager< S >::checkColl	(	typename std::deque< detail::SimpleInterval< S > * >::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval< S > * >::const_iterator	pos_end,
		CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

protected

◆ checkDist()

template<typename S >

bool fcl::IntervalTreeCollisionManager< S >::checkDist	(	typename std::deque< detail::SimpleInterval< S > * >::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval< S > * >::const_iterator	pos_end,
		CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback,
		S &	min_dist
	)		const

protected

◆ clear()

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::clear ( )

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [1/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::collide	(	BroadPhaseCollisionManager< S > *	other_manager,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [2/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::collide	(	CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [3/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::collide	(	void *	cdata,
		CollisionCallBack< S >	callback
	)		const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide_()

template<typename S >

bool fcl::IntervalTreeCollisionManager< S >::collide_	(	CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

protected

◆ distance() [1/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::distance	(	BroadPhaseCollisionManager< S > *	other_manager,
		void *	cdata,
		DistanceCallBack< S >	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ distance() [2/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::distance	(	CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ distance() [3/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::distance	(	void *	cdata,
		DistanceCallBack< S >	callback
	)		const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements fcl::BroadPhaseCollisionManager< S >.

◆ distance_()

template<typename S >

bool fcl::IntervalTreeCollisionManager< S >::distance_	(	CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback,
		S &	min_dist
	)		const

protected

◆ empty()

template<typename S >

bool fcl::IntervalTreeCollisionManager< S >::empty ( ) const

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager< S >.

◆ getObjects()

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::getObjects ( std::vector< CollisionObject< S > * > & objs ) const

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ registerObject()

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::registerObject ( CollisionObject< S > * obj )

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ setup()

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ size()

template<typename S >

size_t fcl::IntervalTreeCollisionManager< S >::size ( ) const

virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ unregisterObject()

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::unregisterObject ( CollisionObject< S > * obj )

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ update() [1/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::update ( )

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ update() [2/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::update ( CollisionObject< S > * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

◆ update() [3/3]

template<typename S >

void fcl::IntervalTreeCollisionManager< S >::update ( const std::vector< CollisionObject< S > * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

Member Data Documentation

◆ endpoints

template<typename S >

std::vector<EndPoint> fcl::IntervalTreeCollisionManager< S >::endpoints[3]

protected

vector stores all the end points

Definition at line 134 of file broadphase_interval_tree.h.

◆ interval_trees

template<typename S >

detail::IntervalTree<S>* fcl::IntervalTreeCollisionManager< S >::interval_trees[3]

protected

interval tree manages the intervals

Definition at line 137 of file broadphase_interval_tree.h.

◆ obj_interval_maps

template<typename S >

std::map<CollisionObject<S>*, SAPInterval*> fcl::IntervalTreeCollisionManager< S >::obj_interval_maps[3]

protected

Definition at line 139 of file broadphase_interval_tree.h.

◆ setup_

template<typename S >

bool fcl::IntervalTreeCollisionManager< S >::setup_

protected

tag for whether the interval tree is maintained suitably

Definition at line 142 of file broadphase_interval_tree.h.

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

broadphase_interval_tree.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename S> class fcl::IntervalTreeCollisionManager< S >

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

◆ ~IntervalTreeCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDist()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects()

◆ registerObject()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ endpoints

◆ interval_trees

◆ obj_interval_maps

◆ setup_

template<typename S>
class fcl::IntervalTreeCollisionManager< S >