38 #ifndef HPP_FCL_BROAD_PHASE_SAP_H 39 #define HPP_FCL_BROAD_PHASE_SAP_H 53 using Base::getObjects;
60 void registerObjects(
const std::vector<CollisionObject*>& other_objs);
72 virtual void update();
78 void update(
const std::vector<CollisionObject*>& updated_objs);
84 void getObjects(std::vector<CollisionObject*>& objs)
const;
150 const Vec3f& getVal()
const;
168 bool operator==(
const SaPPair& other)
const;
178 bool operator()(
const SaPPair& pair)
const;
190 bool operator()(
const SaPPair& pair);
193 void update_(
SaPAABB* updated_aabb);
201 std::vector<EndPoint*> velist[3];
218 void addToOverlapPairs(
const SaPPair& p);
220 void removeFromOverlapPairs(
const SaPPair& p);
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Base callback class for collision queries. This class can be supersed by child classes to provide des...
End point for an interval.
std::list< SaPPair > overlap_pairs
The pair of objects that should further check for collision.
SAP interval for one object.
std::map< CollisionObject *, SaPAABB * > obj_aabb_map
AABB cached
cached AABB value
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.
CollisionObject * obj
object
Rigorous SAP collision manager.
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
EndPoint * hi
higher bound end point of the interval
std::list< SaPAABB * > AABB_arr
SAP interval list.
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.
Functor to help remove collision pairs no longer valid (i.e., should be culled away) ...
BroadPhaseCollisionManager Base
Functor to help unregister one object.
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
EndPoint * lo
lower bound end point of the interval
the object for collision or distance computation, contains the geometry and the transform information...
A pair of objects that are not culling away and should further check collision.
char minmax
tag for whether it is a lower bound or higher bound of an interval, 0 for lo, and 1 for hi ...
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
SaPAABB * aabb
back pointer to SAP interval