38 #ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H 39 #define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H 41 #include <unordered_map> 58 using Base::getObjects;
62 std::unordered_map<CollisionObject*, DynamicAABBNode*>;
66 int* tree_topdown_balance_threshold{
nullptr};
67 int* tree_topdown_level{
nullptr};
76 void registerObjects(
const std::vector<CollisionObject*>& other_objs);
88 virtual void update();
94 void update(
const std::vector<CollisionObject*>& updated_objs);
100 void getObjects(std::vector<CollisionObject*>& objs)
const;
140 std::unordered_map<CollisionObject*, DynamicAABBNode*>
table;
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...
bool octree_as_geometry_distance
int max_tree_nonbalanced_level
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.
Class for hierarchy tree structure.
int tree_incremental_balance_pass
bool octree_as_geometry_collide
std::unordered_map< CollisionObject *, DynamicAABBNode * > table
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::unordered_map< CollisionObject *, DynamicAABBNode * > DynamicAABBTable
Base callback class for distance queries. This class can be supersed by child classes to provide desi...