#include <broadphase_dynamic_AABB_tree.h>

Inheritance diagram for fcl::DynamicAABBTreeCollisionManager< S >:

Public Types
using	DynamicAABBNode = detail::NodeBase< AABB< S > >

using	DynamicAABBTable = std::unordered_map< CollisionObject< S > , DynamicAABBNode >

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...

	DynamicAABBTreeCollisionManager ()

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...

const detail::HierarchyTree< AABB< S > > &	getTree () const

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

void	registerObjects (const std::vector< CollisionObject< S > * > &other_objs)
	add objects to 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)
	remove one object from 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...

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

virtual	~BroadPhaseCollisionManager ()

Public Attributes
int	max_tree_nonbalanced_level

bool	octree_as_geometry_collide

bool	octree_as_geometry_distance

int	tree_incremental_balance_pass

int	tree_init_level

int &	tree_topdown_balance_threshold

int &	tree_topdown_level

Private Member Functions
void	update_ (CollisionObject< S > *updated_obj)

Private Attributes
detail::HierarchyTree< AABB< S > >	dtree

bool	setup_

std::unordered_map< CollisionObject< S > , DynamicAABBNode >	table

Additional Inherited Members
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 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::DynamicAABBTreeCollisionManager< S >

Definition at line 54 of file broadphase_dynamic_AABB_tree.h.

Member Typedef Documentation

◆ DynamicAABBNode

template<typename S >

using fcl::DynamicAABBTreeCollisionManager< S >::DynamicAABBNode = detail::NodeBase<AABB<S> >

Definition at line 58 of file broadphase_dynamic_AABB_tree.h.

◆ DynamicAABBTable

template<typename S >

using fcl::DynamicAABBTreeCollisionManager< S >::DynamicAABBTable = std::unordered_map<CollisionObject<S>*, DynamicAABBNode*>

Definition at line 59 of file broadphase_dynamic_AABB_tree.h.

Constructor & Destructor Documentation

◆ DynamicAABBTreeCollisionManager()

template<typename S >

FCL_EXPORT fcl::DynamicAABBTreeCollisionManager< S >::DynamicAABBTreeCollisionManager

Definition at line 729 of file broadphase_dynamic_AABB_tree-inl.h.

Member Function Documentation

◆ clear()

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< S >::clear

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 878 of file broadphase_dynamic_AABB_tree-inl.h.

◆ collide() [1/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 968 of file broadphase_dynamic_AABB_tree-inl.h.

◆ collide() [2/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 896 of file broadphase_dynamic_AABB_tree-inl.h.

◆ collide() [3/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 949 of file broadphase_dynamic_AABB_tree-inl.h.

◆ distance() [1/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 978 of file broadphase_dynamic_AABB_tree-inl.h.

◆ distance() [2/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 922 of file broadphase_dynamic_AABB_tree-inl.h.

◆ distance() [3/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 958 of file broadphase_dynamic_AABB_tree-inl.h.

◆ empty()

template<typename S >

FCL_EXPORT bool fcl::DynamicAABBTreeCollisionManager< S >::empty

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 989 of file broadphase_dynamic_AABB_tree-inl.h.

◆ getObjects()

template<typename S >

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

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 887 of file broadphase_dynamic_AABB_tree-inl.h.

◆ getTree()

template<typename S >

const FCL_EXPORT detail::HierarchyTree< AABB< S > > & fcl::DynamicAABBTreeCollisionManager< S >::getTree

Definition at line 1006 of file broadphase_dynamic_AABB_tree-inl.h.

◆ registerObject()

template<typename S >

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

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 781 of file broadphase_dynamic_AABB_tree-inl.h.

◆ registerObjects()

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< S >::registerObjects ( const std::vector< CollisionObject< S > * > & other_objs )

virtual

add objects to the manager

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

Definition at line 748 of file broadphase_dynamic_AABB_tree-inl.h.

◆ setup()

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< S >::setup

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 800 of file broadphase_dynamic_AABB_tree-inl.h.

◆ size()

template<typename S >

FCL_EXPORT size_t fcl::DynamicAABBTreeCollisionManager< S >::size

virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 997 of file broadphase_dynamic_AABB_tree-inl.h.

◆ unregisterObject()

template<typename S >

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

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 790 of file broadphase_dynamic_AABB_tree-inl.h.

◆ update() [1/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< S >::update

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 826 of file broadphase_dynamic_AABB_tree-inl.h.

◆ update() [2/3]

template<typename S >

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

virtual

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

Definition at line 859 of file broadphase_dynamic_AABB_tree-inl.h.

◆ update() [3/3]

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< 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 >.

Definition at line 868 of file broadphase_dynamic_AABB_tree-inl.h.

◆ update_()

template<typename S >

FCL_EXPORT void fcl::DynamicAABBTreeCollisionManager< S >::update_ ( CollisionObject< S > * updated_obj )

private

Definition at line 844 of file broadphase_dynamic_AABB_tree-inl.h.

Member Data Documentation

◆ dtree

template<typename S >

detail::HierarchyTree<AABB<S> > fcl::DynamicAABBTreeCollisionManager< S >::dtree

private

Definition at line 126 of file broadphase_dynamic_AABB_tree.h.

◆ max_tree_nonbalanced_level

template<typename S >

int fcl::DynamicAABBTreeCollisionManager< S >::max_tree_nonbalanced_level

Definition at line 61 of file broadphase_dynamic_AABB_tree.h.

◆ octree_as_geometry_collide

template<typename S >

bool fcl::DynamicAABBTreeCollisionManager< S >::octree_as_geometry_collide

Definition at line 67 of file broadphase_dynamic_AABB_tree.h.

◆ octree_as_geometry_distance

template<typename S >

bool fcl::DynamicAABBTreeCollisionManager< S >::octree_as_geometry_distance

Definition at line 68 of file broadphase_dynamic_AABB_tree.h.

◆ setup_

template<typename S >

bool fcl::DynamicAABBTreeCollisionManager< S >::setup_

private

Definition at line 129 of file broadphase_dynamic_AABB_tree.h.

◆ table

template<typename S >

std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> fcl::DynamicAABBTreeCollisionManager< S >::table

private

Definition at line 127 of file broadphase_dynamic_AABB_tree.h.

◆ tree_incremental_balance_pass

template<typename S >

int fcl::DynamicAABBTreeCollisionManager< S >::tree_incremental_balance_pass

Definition at line 62 of file broadphase_dynamic_AABB_tree.h.

◆ tree_init_level

template<typename S >

int fcl::DynamicAABBTreeCollisionManager< S >::tree_init_level

Definition at line 65 of file broadphase_dynamic_AABB_tree.h.

◆ tree_topdown_balance_threshold

template<typename S >

int& fcl::DynamicAABBTreeCollisionManager< S >::tree_topdown_balance_threshold

Definition at line 63 of file broadphase_dynamic_AABB_tree.h.

◆ tree_topdown_level

template<typename S >

int& fcl::DynamicAABBTreeCollisionManager< S >::tree_topdown_level

Definition at line 64 of file broadphase_dynamic_AABB_tree.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ DynamicAABBNode

◆ DynamicAABBTable

Constructor & Destructor Documentation

◆ DynamicAABBTreeCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ empty()

◆ getObjects()

◆ getTree()

◆ registerObject()

◆ registerObjects()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ update_()

Member Data Documentation

◆ dtree

◆ max_tree_nonbalanced_level

◆ octree_as_geometry_collide

◆ octree_as_geometry_distance

◆ setup_

◆ table

◆ tree_incremental_balance_pass

◆ tree_init_level

◆ tree_topdown_balance_threshold

◆ tree_topdown_level

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