Simple SAP collision manager. More...
#include <broadphase_SSaP.h>
Public Types | |
typedef BroadPhaseCollisionManager | Base |
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... | |
bool | empty () const |
whether the manager is empty More... | |
void | getObjects (std::vector< CollisionObject *> &objs) const |
return the objects managed by the manager More... | |
void | registerObject (CollisionObject *obj) |
remove one object from 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... | |
SSaPCollisionManager () | |
void | unregisterObject (CollisionObject *obj) |
add one object to the manager More... | |
virtual void | update () |
update the condition of manager 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 void | registerObjects (const std::vector< CollisionObject *> &other_objs) |
add objects to the manager More... | |
virtual void | update (CollisionObject *updated_obj) |
update the manager by explicitly given the object updated More... | |
virtual void | update (const std::vector< CollisionObject *> &updated_objs) |
update the manager by explicitly given the set of objects update More... | |
virtual | ~BroadPhaseCollisionManager () |
Protected Member Functions | |
bool | checkColl (typename std::vector< CollisionObject *>::const_iterator pos_start, typename std::vector< CollisionObject *>::const_iterator pos_end, CollisionObject *obj, CollisionCallBackBase *callback) const |
check collision between one object and a list of objects, return value is whether stop is possible More... | |
bool | checkDis (typename std::vector< CollisionObject *>::const_iterator pos_start, typename std::vector< CollisionObject *>::const_iterator pos_end, CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const |
check distance between one object and a list of objects, return value is whether stop is possible More... | |
bool | collide_ (CollisionObject *obj, CollisionCallBackBase *callback) const |
bool | distance_ (CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const |
Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager | |
void | insertTestedSet (CollisionObject *a, CollisionObject *b) const |
bool | inTestedSet (CollisionObject *a, CollisionObject *b) const |
Static Protected Member Functions | |
static int | selectOptimalAxis (const std::vector< CollisionObject *> &objs_x, const std::vector< CollisionObject *> &objs_y, const std::vector< CollisionObject *> &objs_z, typename std::vector< CollisionObject *>::const_iterator &it_beg, typename std::vector< CollisionObject *>::const_iterator &it_end) |
Protected Attributes | |
std::vector< CollisionObject * > | objs_x |
Objects sorted according to lower x value. More... | |
std::vector< CollisionObject * > | objs_y |
Objects sorted according to lower y value. More... | |
std::vector< CollisionObject * > | objs_z |
Objects sorted according to lower z value. More... | |
bool | setup_ |
tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly More... | |
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... | |
Simple SAP collision manager.
Definition at line 48 of file broadphase_SSaP.h.
Definition at line 50 of file broadphase_SSaP.h.
hpp::fcl::SSaPCollisionManager::SSaPCollisionManager | ( | ) |
Definition at line 122 of file broadphase_SSaP.cpp.
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check collision between one object and a list of objects, return value is whether stop is possible
Definition at line 166 of file broadphase_SSaP.cpp.
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check distance between one object and a list of objects, return value is whether stop is possible
Definition at line 183 of file broadphase_SSaP.cpp.
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clear the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 151 of file broadphase_SSaP.cpp.
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perform collision test between one object and all the objects belonging to the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 202 of file broadphase_SSaP.cpp.
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perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 403 of file broadphase_SSaP.cpp.
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perform collision test with objects belonging to another manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 464 of file broadphase_SSaP.cpp.
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Definition at line 211 of file broadphase_SSaP.cpp.
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perform distance computation between one object and all the objects belonging to the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 255 of file broadphase_SSaP.cpp.
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perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 450 of file broadphase_SSaP.cpp.
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perform distance test with objects belonging to another manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 489 of file broadphase_SSaP.cpp.
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Definition at line 265 of file broadphase_SSaP.cpp.
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whether the manager is empty
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 515 of file broadphase_SSaP.cpp.
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return the objects managed by the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 159 of file broadphase_SSaP.cpp.
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remove one object from the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 127 of file broadphase_SSaP.cpp.
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simple sweep and prune method
Definition at line 364 of file broadphase_SSaP.cpp.
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initialize the manager, related with the specific type of manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 135 of file broadphase_SSaP.cpp.
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the number of objects managed by the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 518 of file broadphase_SSaP.cpp.
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add one object to the manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 79 of file broadphase_SSaP.cpp.
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update the condition of manager
Implements hpp::fcl::BroadPhaseCollisionManager.
Definition at line 145 of file broadphase_SSaP.cpp.
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Objects sorted according to lower x value.
Definition at line 132 of file broadphase_SSaP.h.
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Objects sorted according to lower y value.
Definition at line 135 of file broadphase_SSaP.h.
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Objects sorted according to lower z value.
Definition at line 138 of file broadphase_SSaP.h.
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tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly
Definition at line 142 of file broadphase_SSaP.h.