Rigorous SAP collision manager. More...

#include <broadphase_SaP.h>

Inheritance diagram for fcl::SaPCollisionManager< S >:

Classes
struct	EndPoint
	End point for an interval. More...

struct	SaPAABB
	SAP interval for one object. More...

struct	SaPPair
	A pair of objects that are not culling away and should further check collision. More...

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...

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

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

	SaPCollisionManager ()

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...

	~SaPCollisionManager ()

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

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
void	addToOverlapPairs (const SaPPair &p)

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

void	removeFromOverlapPairs (const SaPPair &p)

void	update_ (SaPAABB *updated_aabb)

void	updateVelist ()

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::list< SaPAABB * >	AABB_arr
	SAP interval list. More...

EndPoint *	elist [3]
	End point list for x, y, z coordinates. More...

class FCL_EXPORT	isNotValidPair
	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...

class FCL_EXPORT	isUnregistered
	Functor to help unregister one object. More...

std::map< CollisionObject< S > , SaPAABB >	obj_aabb_map

size_t	optimal_axis

std::list< SaPPair >	overlap_pairs
	The pair of objects that should further check for collision. More...

std::vector< EndPoint * >	velist [3]
	vector version of elist, for acceleration 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::SaPCollisionManager< S >

Rigorous SAP collision manager.

Definition at line 51 of file broadphase_SaP.h.

Constructor & Destructor Documentation

◆ SaPCollisionManager()

template<typename S >

fcl::SaPCollisionManager< S >::SaPCollisionManager ( )

◆ ~SaPCollisionManager()

template<typename S >

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

Member Function Documentation

◆ addToOverlapPairs()

template<typename S >

void fcl::SaPCollisionManager< S >::addToOverlapPairs ( const SaPPair & p )

protected

◆ clear()

template<typename S >

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

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [1/3]

template<typename S >

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

protected

◆ distance() [1/3]

template<typename S >

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

protected

◆ empty()

template<typename S >

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

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager< S >.

◆ getObjects()

template<typename S >

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

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ registerObjects()

template<typename S >

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

virtual

add objects to the manager

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

◆ removeFromOverlapPairs()

template<typename S >

void fcl::SaPCollisionManager< S >::removeFromOverlapPairs ( const SaPPair & p )

protected

◆ setup()

template<typename S >

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

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ size()

template<typename S >

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

virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ unregisterObject()

template<typename S >

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

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ update() [1/3]

template<typename S >

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

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ update() [2/3]

template<typename S >

void fcl::SaPCollisionManager< 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::SaPCollisionManager< 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 >.

◆ update_()

template<typename S >

void fcl::SaPCollisionManager< S >::update_ ( SaPAABB * updated_aabb )

protected

◆ updateVelist()

template<typename S >

void fcl::SaPCollisionManager< S >::updateVelist ( )

protected

Member Data Documentation

◆ AABB_arr

template<typename S >

std::list<SaPAABB*> fcl::SaPCollisionManager< S >::AABB_arr

protected

SAP interval list.

Definition at line 138 of file broadphase_SaP.h.

◆ elist

template<typename S >

EndPoint* fcl::SaPCollisionManager< S >::elist[3]

protected

End point list for x, y, z coordinates.

Definition at line 132 of file broadphase_SaP.h.

◆ isNotValidPair

template<typename S >

class FCL_EXPORT fcl::SaPCollisionManager< S >::isNotValidPair

protected

Functor to help remove collision pairs no longer valid (i.e., should be culled away)

Definition at line 125 of file broadphase_SaP.h.

◆ isUnregistered

template<typename S >

class FCL_EXPORT fcl::SaPCollisionManager< S >::isUnregistered

protected

Functor to help unregister one object.

Definition at line 122 of file broadphase_SaP.h.

◆ obj_aabb_map

template<typename S >

std::map<CollisionObject<S>*, SaPAABB*> fcl::SaPCollisionManager< S >::obj_aabb_map

protected

Definition at line 145 of file broadphase_SaP.h.

◆ optimal_axis

template<typename S >

size_t fcl::SaPCollisionManager< S >::optimal_axis

protected

Definition at line 143 of file broadphase_SaP.h.

◆ overlap_pairs

template<typename S >

std::list<SaPPair> fcl::SaPCollisionManager< S >::overlap_pairs

protected

The pair of objects that should further check for collision.

Definition at line 141 of file broadphase_SaP.h.

◆ velist

template<typename S >

std::vector<EndPoint*> fcl::SaPCollisionManager< S >::velist[3]

protected

vector version of elist, for acceleration

Definition at line 135 of file broadphase_SaP.h.

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

broadphase_SaP.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ SaPCollisionManager()

◆ ~SaPCollisionManager()

Member Function Documentation

◆ addToOverlapPairs()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects()

◆ registerObject()

◆ registerObjects()

◆ removeFromOverlapPairs()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ update_()

◆ updateVelist()

Member Data Documentation

◆ AABB_arr

◆ elist

◆ isNotValidPair

◆ isUnregistered

◆ obj_aabb_map

◆ optimal_axis

◆ overlap_pairs

◆ velist

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