38 #ifndef HPP_FCL_BROAD_PHASE_SSAP_H 39 #define HPP_FCL_BROAD_PHASE_SSAP_H 51 using Base::getObjects;
65 virtual void update();
71 void getObjects(std::vector<CollisionObject*>& objs)
const;
107 typename std::vector<CollisionObject*>::const_iterator pos_start,
108 typename std::vector<CollisionObject*>::const_iterator pos_end,
114 typename std::vector<CollisionObject*>::const_iterator pos_start,
115 typename std::vector<CollisionObject*>::const_iterator pos_end,
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);
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...
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.
std::vector< CollisionObject * > objs_y
Objects sorted according to lower y value.
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...