broadphase_dynamic_AABB_tree.h
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35 
38 #ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
39 #define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
40 
41 #include <unordered_map>
42 #include <functional>
43 
44 #include "hpp/fcl/fwd.hh"
45 // #include "hpp/fcl/BV/utility.h"
47 // #include "hpp/fcl/geometry/shape/utility.h"
50 
51 namespace hpp {
52 namespace fcl {
53 
54 class HPP_FCL_DLLAPI DynamicAABBTreeCollisionManager
56  public:
58  using Base::getObjects;
59 
61  using DynamicAABBTable =
62  std::unordered_map<CollisionObject*, DynamicAABBNode*>;
63 
66  int* tree_topdown_balance_threshold{nullptr};
67  int* tree_topdown_level{nullptr};
69 
72 
74 
76  void registerObjects(const std::vector<CollisionObject*>& other_objs);
77 
79  void registerObject(CollisionObject* obj);
80 
82  void unregisterObject(CollisionObject* obj);
83 
85  void setup();
86 
88  virtual void update();
89 
91  void update(CollisionObject* updated_obj);
92 
94  void update(const std::vector<CollisionObject*>& updated_objs);
95 
97  void clear();
98 
100  void getObjects(std::vector<CollisionObject*>& objs) const;
101 
105 
109 
113 
117 
119  void collide(BroadPhaseCollisionManager* other_manager_,
121 
123  void distance(BroadPhaseCollisionManager* other_manager_,
125 
127  bool empty() const;
128 
130  size_t size() const;
131 
133  const detail::HierarchyTree<AABB>& getTree() const;
134 
136  detail::HierarchyTree<AABB>& getTree();
137 
138  private:
140  std::unordered_map<CollisionObject*, DynamicAABBNode*> table;
141 
142  bool setup_;
143 
144  void update_(CollisionObject* updated_obj);
145 };
146 
147 } // namespace fcl
148 
149 } // namespace hpp
150 
152 
153 #endif
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Main namespace.
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
Class for hierarchy tree structure.
std::unordered_map< CollisionObject *, DynamicAABBNode * > table
dynamic AABB tree node
Definition: node_base.h:50
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.
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...


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