Collision manager based on interval tree. More...

#include <broadphase_interval_tree.h>

Inheritance diagram for coal::IntervalTreeCollisionManager:

Classes
struct	EndPoint
	SAP end point. More...

struct	SAPInterval
	Extention interval tree's interval to SAP interval, adding more information. More...

Public Types
typedef BroadPhaseCollisionManager	Base

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

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

void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const
	perform distance 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...

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

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

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

virtual void	getObjects (std::vector< CollisionObject * > &objs) const=0
	return the objects managed by the manager More...

	IntervalTreeCollisionManager ()

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...

void	unregisterObject (CollisionObject *obj)
	add one object to 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...

	~IntervalTreeCollisionManager ()

Public Member Functions inherited from coal::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	~BroadPhaseCollisionManager ()

Protected Member Functions
bool	checkColl (typename std::deque< detail::SimpleInterval * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval * >::const_iterator pos_end, CollisionObject obj, CollisionCallBackBase callback) const

bool	checkDist (typename std::deque< detail::SimpleInterval * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval * >::const_iterator pos_end, CollisionObject obj, DistanceCallBackBase callback, CoalScalar &min_dist) const

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, CoalScalar &min_dist) const

Protected Member Functions inherited from coal::BroadPhaseCollisionManager
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
std::vector< EndPoint >	endpoints [3]
	vector stores all the end points More...

detail::IntervalTree *	interval_trees [3]
	interval tree manages the intervals More...

std::map< CollisionObject , SAPInterval >	obj_interval_maps [3]

bool	setup_
	tag for whether the interval tree is maintained suitably More...

Protected Attributes inherited from coal::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

Collision manager based on interval tree.

Definition at line 50 of file coal/broadphase/broadphase_interval_tree.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager coal::IntervalTreeCollisionManager::Base

Definition at line 53 of file coal/broadphase/broadphase_interval_tree.h.

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

coal::IntervalTreeCollisionManager::IntervalTreeCollisionManager ( )

Definition at line 138 of file broadphase_interval_tree.cpp.

◆ ~IntervalTreeCollisionManager()

coal::IntervalTreeCollisionManager::~IntervalTreeCollisionManager ( )

Definition at line 143 of file broadphase_interval_tree.cpp.

Member Function Documentation

◆ checkColl()

bool coal::IntervalTreeCollisionManager::checkColl	(	typename std::deque< detail::SimpleInterval * >::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval * >::const_iterator	pos_end,
		CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 583 of file broadphase_interval_tree.cpp.

◆ checkDist()

bool coal::IntervalTreeCollisionManager::checkDist	(	typename std::deque< detail::SimpleInterval * >::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval * >::const_iterator	pos_end,
		CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		CoalScalar &	min_dist
	)		const

protected

Definition at line 602 of file broadphase_interval_tree.cpp.

◆ clear()

void coal::IntervalTreeCollisionManager::clear ( )

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 280 of file broadphase_interval_tree.cpp.

◆ collide() [1/3]

void coal::IntervalTreeCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 521 of file broadphase_interval_tree.cpp.

◆ collide() [2/3]

void coal::IntervalTreeCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

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

Implements coal::BroadPhaseCollisionManager.

Definition at line 450 of file broadphase_interval_tree.cpp.

◆ collide() [3/3]

void coal::IntervalTreeCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

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

Implements coal::BroadPhaseCollisionManager.

Definition at line 319 of file broadphase_interval_tree.cpp.

◆ collide_()

bool coal::IntervalTreeCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 327 of file broadphase_interval_tree.cpp.

◆ distance() [1/3]

void coal::IntervalTreeCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 545 of file broadphase_interval_tree.cpp.

◆ distance() [2/3]

void coal::IntervalTreeCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

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

Implements coal::BroadPhaseCollisionManager.

Definition at line 361 of file broadphase_interval_tree.cpp.

◆ distance() [3/3]

void coal::IntervalTreeCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

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

Implements coal::BroadPhaseCollisionManager.

Definition at line 504 of file broadphase_interval_tree.cpp.

◆ distance_()

bool coal::IntervalTreeCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		CoalScalar &	min_dist
	)		const

protected

Definition at line 370 of file broadphase_interval_tree.cpp.

◆ empty()

bool coal::IntervalTreeCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

Definition at line 573 of file broadphase_interval_tree.cpp.

◆ getObjects() [1/3]

virtual std::vector<CollisionObject*> coal::BroadPhaseCollisionManager::getObjects

inline

return the objects managed by the manager

Definition at line 87 of file coal/broadphase/broadphase_collision_manager.h.

◆ getObjects() [2/3]

void coal::IntervalTreeCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 306 of file broadphase_interval_tree.cpp.

◆ getObjects() [3/3]

virtual void coal::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

void coal::IntervalTreeCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 146 of file broadphase_interval_tree.cpp.

◆ setup()

void coal::IntervalTreeCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 171 of file broadphase_interval_tree.cpp.

◆ size()

size_t coal::IntervalTreeCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 578 of file broadphase_interval_tree.cpp.

◆ unregisterObject()

void coal::IntervalTreeCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 43 of file broadphase_interval_tree.cpp.

◆ update() [1/3]

void coal::IntervalTreeCollisionManager::update ( )

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 207 of file broadphase_interval_tree.cpp.

◆ update() [2/3]

void coal::IntervalTreeCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

Definition at line 235 of file broadphase_interval_tree.cpp.

◆ update() [3/3]

void coal::IntervalTreeCollisionManager::update ( const std::vector< CollisionObject * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from coal::BroadPhaseCollisionManager.

Definition at line 274 of file broadphase_interval_tree.cpp.

Member Data Documentation

◆ endpoints

std::vector<EndPoint> coal::IntervalTreeCollisionManager::endpoints[3]

protected

vector stores all the end points

Definition at line 156 of file coal/broadphase/broadphase_interval_tree.h.

◆ interval_trees

detail::IntervalTree* coal::IntervalTreeCollisionManager::interval_trees[3]

protected

interval tree manages the intervals

Definition at line 159 of file coal/broadphase/broadphase_interval_tree.h.

◆ obj_interval_maps

std::map<CollisionObject*, SAPInterval*> coal::IntervalTreeCollisionManager::obj_interval_maps[3]

protected

Definition at line 161 of file coal/broadphase/broadphase_interval_tree.h.

◆ setup_

bool coal::IntervalTreeCollisionManager::setup_

protected

tag for whether the interval tree is maintained suitably

Definition at line 164 of file coal/broadphase/broadphase_interval_tree.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

◆ ~IntervalTreeCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDist()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ endpoints

◆ interval_trees

◆ obj_interval_maps

◆ setup_