broadphase_SSaP.h
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35 
38 #ifndef HPP_FCL_BROAD_PHASE_SSAP_H
39 #define HPP_FCL_BROAD_PHASE_SSAP_H
40 
41 #include <vector>
43 
44 namespace hpp {
45 namespace fcl {
46 
48 class HPP_FCL_DLLAPI SSaPCollisionManager : public BroadPhaseCollisionManager {
49  public:
51  using Base::getObjects;
52 
54 
56  void registerObject(CollisionObject* obj);
57 
59  void unregisterObject(CollisionObject* obj);
60 
62  void setup();
63 
65  virtual void update();
66 
68  void clear();
69 
71  void getObjects(std::vector<CollisionObject*>& objs) const;
72 
76 
80 
84 
88 
90  void collide(BroadPhaseCollisionManager* other_manager,
92 
94  void distance(BroadPhaseCollisionManager* other_manager,
96 
98  bool empty() const;
99 
101  size_t size() const;
102 
103  protected:
106  bool checkColl(
107  typename std::vector<CollisionObject*>::const_iterator pos_start,
108  typename std::vector<CollisionObject*>::const_iterator pos_end,
110 
113  bool checkDis(
114  typename std::vector<CollisionObject*>::const_iterator pos_start,
115  typename std::vector<CollisionObject*>::const_iterator pos_end,
117  FCL_REAL& min_dist) const;
118 
119  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
120 
121  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
122  FCL_REAL& min_dist) const;
123 
124  static int selectOptimalAxis(
125  const std::vector<CollisionObject*>& objs_x,
126  const std::vector<CollisionObject*>& objs_y,
127  const std::vector<CollisionObject*>& objs_z,
128  typename std::vector<CollisionObject*>::const_iterator& it_beg,
129  typename std::vector<CollisionObject*>::const_iterator& it_end);
130 
132  std::vector<CollisionObject*> objs_x;
133 
135  std::vector<CollisionObject*> objs_y;
136 
138  std::vector<CollisionObject*> objs_z;
139 
142  bool setup_;
143 };
144 
145 } // namespace fcl
146 } // namespace hpp
147 
148 #endif
std::vector< CollisionObject * > objs_x
Objects sorted according to lower x value.
bool setup_
tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Main namespace.
Simple SAP collision manager.
Base callback class for collision queries. This class can be supersed by child classes to provide des...
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS.cpp:181
std::vector< CollisionObject * > objs_y
Objects sorted according to lower y value.
double FCL_REAL
Definition: data_types.h:65
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
BroadPhaseCollisionManager Base
the object for collision or distance computation, contains the geometry and the transform information...
std::vector< CollisionObject * > objs_z
Objects sorted according to lower z value.
Base callback class for distance queries. This class can be supersed by child classes to provide desi...


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:00