#include <broadphase_dynamic_AABB_tree.h>

Inheritance diagram for hpp::fcl::DynamicAABBTreeCollisionManager:

Public Types
typedef BroadPhaseCollisionManager	Base

using	DynamicAABBNode = detail::NodeBase< AABB >

using	DynamicAABBTable = std::unordered_map< CollisionObject , DynamicAABBNode >

Public Member Functions
void	clear ()
	clear the manager More...

void	collide (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	collide (BroadPhaseCollisionManager other_manager_, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager More...

void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

void	distance (BroadPhaseCollisionManager other_manager_, DistanceCallBackBase callback) const
	perform distance test with objects belonging to another manager More...

	DynamicAABBTreeCollisionManager ()

bool	empty () const
	whether the manager is empty More...

void	getObjects (std::vector< CollisionObject *> &objs) const
	return the objects managed by the manager More...

const detail::HierarchyTree< AABB > &	getTree () const
	returns the AABB tree structure. More...

detail::HierarchyTree< AABB > &	getTree ()
	returns the AABB tree structure. More...

void	registerObject (CollisionObject *obj)
	add one object to the manager More...

void	registerObjects (const std::vector< CollisionObject *> &other_objs)
	add objects to the manager More...

void	setup ()
	initialize the manager, related with the specific type of manager More...

size_t	size () const
	the number of objects managed by the manager More...

void	unregisterObject (CollisionObject *obj)
	remove one object from the manager More...

virtual void	update ()
	update the condition of manager More...

void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

void	update (const std::vector< CollisionObject *> &updated_objs)
	update the manager by explicitly given the set of objects update More...

Public Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

virtual	~BroadPhaseCollisionManager ()

Public Attributes
int	max_tree_nonbalanced_level

bool	octree_as_geometry_collide

bool	octree_as_geometry_distance

int	tree_incremental_balance_pass

int	tree_init_level

int *	tree_topdown_balance_threshold {nullptr}

int *	tree_topdown_level {nullptr}

Private Member Functions
void	update_ (CollisionObject *updated_obj)

Private Attributes
detail::HierarchyTree< AABB >	dtree {}

bool	setup_

std::unordered_map< CollisionObject , DynamicAABBNode >	table

Additional Inherited Members
Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes inherited from hpp::fcl::BroadPhaseCollisionManager
bool	enable_tested_set_

std::set< std::pair< CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

Detailed Description

Definition at line 54 of file broadphase_dynamic_AABB_tree.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager hpp::fcl::DynamicAABBTreeCollisionManager::Base

Definition at line 57 of file broadphase_dynamic_AABB_tree.h.

◆ DynamicAABBNode

using hpp::fcl::DynamicAABBTreeCollisionManager::DynamicAABBNode = detail::NodeBase<AABB>

Definition at line 60 of file broadphase_dynamic_AABB_tree.h.

◆ DynamicAABBTable

using hpp::fcl::DynamicAABBTreeCollisionManager::DynamicAABBTable = std::unordered_map<CollisionObject*, DynamicAABBNode*>

Definition at line 62 of file broadphase_dynamic_AABB_tree.h.

Constructor & Destructor Documentation

◆ DynamicAABBTreeCollisionManager()

hpp::fcl::DynamicAABBTreeCollisionManager::DynamicAABBTreeCollisionManager ( )

Definition at line 435 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

Member Function Documentation

◆ clear()

void hpp::fcl::DynamicAABBTreeCollisionManager::clear ( )

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 553 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ collide() [1/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 568 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ collide() [2/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 619 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ collide() [3/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager_,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 637 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ distance() [1/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 593 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ distance() [2/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 627 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ distance() [3/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager_,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 649 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ empty()

bool hpp::fcl::DynamicAABBTreeCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 662 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ getObjects()

void hpp::fcl::DynamicAABBTreeCollisionManager::getObjects ( std::vector< CollisionObject *> & objs ) const

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 559 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ getTree() [1/2]

const detail::HierarchyTree< AABB > & hpp::fcl::DynamicAABBTreeCollisionManager::getTree ( ) const

returns the AABB tree structure.

Definition at line 668 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ getTree() [2/2]

detail::HierarchyTree< AABB > & hpp::fcl::DynamicAABBTreeCollisionManager::getTree ( )

returns the AABB tree structure.

Definition at line 673 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ registerObject()

void hpp::fcl::DynamicAABBTreeCollisionManager::registerObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 478 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ registerObjects()

void hpp::fcl::DynamicAABBTreeCollisionManager::registerObjects ( const std::vector< CollisionObject *> & other_objs )

virtual

add objects to the manager

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 451 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ setup()

void hpp::fcl::DynamicAABBTreeCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 491 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ size()

size_t hpp::fcl::DynamicAABBTreeCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 665 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ unregisterObject()

void hpp::fcl::DynamicAABBTreeCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 484 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ update() [1/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::update ( )

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 512 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ update() [2/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 539 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ update() [3/3]

void hpp::fcl::DynamicAABBTreeCollisionManager::update ( const std::vector< CollisionObject *> & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 545 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

◆ update_()

void hpp::fcl::DynamicAABBTreeCollisionManager::update_ ( CollisionObject * updated_obj )

private

Definition at line 528 of file src/broadphase/broadphase_dynamic_AABB_tree.cpp.

Member Data Documentation

◆ dtree

detail::HierarchyTree<AABB> hpp::fcl::DynamicAABBTreeCollisionManager::dtree {}

private

Definition at line 139 of file broadphase_dynamic_AABB_tree.h.

◆ max_tree_nonbalanced_level

int hpp::fcl::DynamicAABBTreeCollisionManager::max_tree_nonbalanced_level

Definition at line 64 of file broadphase_dynamic_AABB_tree.h.

◆ octree_as_geometry_collide

bool hpp::fcl::DynamicAABBTreeCollisionManager::octree_as_geometry_collide

Definition at line 70 of file broadphase_dynamic_AABB_tree.h.

◆ octree_as_geometry_distance

bool hpp::fcl::DynamicAABBTreeCollisionManager::octree_as_geometry_distance

Definition at line 71 of file broadphase_dynamic_AABB_tree.h.

◆ setup_

bool hpp::fcl::DynamicAABBTreeCollisionManager::setup_

private

Definition at line 142 of file broadphase_dynamic_AABB_tree.h.

◆ table

std::unordered_map<CollisionObject*, DynamicAABBNode*> hpp::fcl::DynamicAABBTreeCollisionManager::table

private

Definition at line 140 of file broadphase_dynamic_AABB_tree.h.

◆ tree_incremental_balance_pass

int hpp::fcl::DynamicAABBTreeCollisionManager::tree_incremental_balance_pass

Definition at line 65 of file broadphase_dynamic_AABB_tree.h.

◆ tree_init_level

int hpp::fcl::DynamicAABBTreeCollisionManager::tree_init_level

Definition at line 68 of file broadphase_dynamic_AABB_tree.h.

◆ tree_topdown_balance_threshold

int* hpp::fcl::DynamicAABBTreeCollisionManager::tree_topdown_balance_threshold {nullptr}

Definition at line 66 of file broadphase_dynamic_AABB_tree.h.

◆ tree_topdown_level

int* hpp::fcl::DynamicAABBTreeCollisionManager::tree_topdown_level {nullptr}

Definition at line 67 of file broadphase_dynamic_AABB_tree.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ DynamicAABBNode

◆ DynamicAABBTable

Constructor & Destructor Documentation

◆ DynamicAABBTreeCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ empty()

◆ getObjects()

◆ getTree() [1/2]

◆ getTree() [2/2]

◆ registerObject()

◆ registerObjects()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ update_()

Member Data Documentation

◆ dtree

◆ max_tree_nonbalanced_level

◆ octree_as_geometry_collide

◆ octree_as_geometry_distance

◆ setup_

◆ table

◆ tree_incremental_balance_pass

◆ tree_init_level

◆ tree_topdown_balance_threshold

◆ tree_topdown_level