Simple SAP collision manager. More...

#include <broadphase_SSaP.h>

Inheritance diagram for coal::SSaPCollisionManager:

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...

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 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 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, CoalScalar &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, 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

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 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

Simple SAP collision manager.

Definition at line 47 of file coal/broadphase/broadphase_SSaP.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager coal::SSaPCollisionManager::Base

Definition at line 49 of file coal/broadphase/broadphase_SSaP.h.

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

coal::SSaPCollisionManager::SSaPCollisionManager ( )

Definition at line 121 of file broadphase_SSaP.cpp.

Member Function Documentation

◆ checkColl()

bool coal::SSaPCollisionManager::checkColl	(	typename std::vector< CollisionObject * >::const_iterator	pos_start,
		typename std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

check collision between one object and a list of objects, return value is whether stop is possible

Definition at line 165 of file broadphase_SSaP.cpp.

◆ checkDis()

bool coal::SSaPCollisionManager::checkDis	(	typename std::vector< CollisionObject * >::const_iterator	pos_start,
		typename std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		CoalScalar &	min_dist
	)		const

protected

check distance between one object and a list of objects, return value is whether stop is possible

Definition at line 182 of file broadphase_SSaP.cpp.

◆ clear()

void coal::SSaPCollisionManager::clear ( )

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 150 of file broadphase_SSaP.cpp.

◆ collide() [1/3]

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

virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 463 of file broadphase_SSaP.cpp.

◆ collide() [2/3]

void coal::SSaPCollisionManager::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 402 of file broadphase_SSaP.cpp.

◆ collide() [3/3]

void coal::SSaPCollisionManager::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 201 of file broadphase_SSaP.cpp.

◆ collide_()

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

protected

Definition at line 210 of file broadphase_SSaP.cpp.

◆ distance() [1/3]

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

virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 488 of file broadphase_SSaP.cpp.

◆ distance() [2/3]

void coal::SSaPCollisionManager::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 254 of file broadphase_SSaP.cpp.

◆ distance() [3/3]

void coal::SSaPCollisionManager::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 449 of file broadphase_SSaP.cpp.

◆ distance_()

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

protected

Definition at line 264 of file broadphase_SSaP.cpp.

◆ empty()

bool coal::SSaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

Definition at line 514 of file broadphase_SSaP.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::SSaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 158 of file broadphase_SSaP.cpp.

◆ getObjects() [3/3]

virtual void coal::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

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

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 126 of file broadphase_SSaP.cpp.

◆ selectOptimalAxis()

int coal::SSaPCollisionManager::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
	)

staticprotected

simple sweep and prune method

Definition at line 363 of file broadphase_SSaP.cpp.

◆ setup()

void coal::SSaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 134 of file broadphase_SSaP.cpp.

◆ size()

size_t coal::SSaPCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 517 of file broadphase_SSaP.cpp.

◆ unregisterObject()

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

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 78 of file broadphase_SSaP.cpp.

◆ update()

void coal::SSaPCollisionManager::update ( )

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 144 of file broadphase_SSaP.cpp.

Member Data Documentation

◆ objs_x

std::vector<CollisionObject*> coal::SSaPCollisionManager::objs_x

protected

Objects sorted according to lower x value.

Definition at line 131 of file coal/broadphase/broadphase_SSaP.h.

◆ objs_y

std::vector<CollisionObject*> coal::SSaPCollisionManager::objs_y

protected

Objects sorted according to lower y value.

Definition at line 134 of file coal/broadphase/broadphase_SSaP.h.

◆ objs_z

std::vector<CollisionObject*> coal::SSaPCollisionManager::objs_z

protected

Objects sorted according to lower z value.

Definition at line 137 of file coal/broadphase/broadphase_SSaP.h.

◆ setup_

bool coal::SSaPCollisionManager::setup_

protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

Definition at line 141 of file coal/broadphase/broadphase_SSaP.h.

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

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDis()

◆ 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()

◆ selectOptimalAxis()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update()

Member Data Documentation

◆ objs_x

◆ objs_y

◆ objs_z

◆ setup_