spatial hashing collision mananger More...

#include <broadphase_spatialhash.h>

Inheritance diagram for coal::SpatialHashingCollisionManager< HashTable >:

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 ot 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)
	add one object 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...

	SpatialHashingCollisionManager (CoalScalar cell_size, const Vec3s &scene_min, const Vec3s &scene_max, unsigned int default_table_size=1000)

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...

	~SpatialHashingCollisionManager ()

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 ()

Static Public Member Functions
static void	computeBound (std::vector< CollisionObject * > &objs, Vec3s &l, Vec3s &u)
	compute the bound for the environent More...

Protected Member Functions
bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, CoalScalar &min_dist) const
	perform distance computation between one object and all the objects belonging ot the manager More...

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

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
HashTable *	hash_table
	objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table More...

std::map< CollisionObject *, AABB >	obj_aabb_map
	store the map between objects and their aabbs. will make update more convenient More...

std::list< CollisionObject * >	objs
	all objects in the scene More...

std::list< CollisionObject * >	objs_outside_scene_limit
	objects outside the scene limit are in another list More...

std::list< CollisionObject * >	objs_partially_penetrating_scene_limit
	objects partially penetrating (not totally inside nor outside) the scene limit are in another list More...

AABB	scene_limit
	the size of the scene 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...

Private Types
enum	ObjectStatus { Inside, PartiallyPenetrating, Outside }

Private Member Functions
template<typename Container >
bool	distanceObjectToObjects (CollisionObject obj, const Container &objs, DistanceCallBackBase callback, CoalScalar &min_dist) const

Detailed Description

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>
class coal::SpatialHashingCollisionManager< HashTable >

spatial hashing collision mananger

Definition at line 54 of file coal/broadphase/broadphase_spatialhash.h.

Member Typedef Documentation

◆ Base

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

typedef BroadPhaseCollisionManager coal::SpatialHashingCollisionManager< HashTable >::Base

Definition at line 56 of file coal/broadphase/broadphase_spatialhash.h.

Member Enumeration Documentation

◆ ObjectStatus

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

enum coal::SpatialHashingCollisionManager::ObjectStatus

private

Enumerator
Inside
PartiallyPenetrating
Outside

Definition at line 155 of file coal/broadphase/broadphase_spatialhash.h.

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

template<typename HashTable >

coal::SpatialHashingCollisionManager< HashTable >::SpatialHashingCollisionManager	(	CoalScalar	cell_size,
		const Vec3s &	scene_min,
		const Vec3s &	scene_max,
		unsigned int	default_table_size = `1000`
	)

Definition at line 47 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ ~SpatialHashingCollisionManager()

template<typename HashTable >

coal::SpatialHashingCollisionManager< HashTable >::~SpatialHashingCollisionManager

Definition at line 57 of file coal/broadphase/broadphase_spatialhash-inl.h.

Member Function Documentation

◆ clear()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::clear

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 237 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ collide() [1/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 437 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ collide() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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 377 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ collide() [3/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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 254 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ collide_()

template<typename HashTable >

bool coal::SpatialHashingCollisionManager< HashTable >::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

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

Definition at line 271 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ computeBound()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::computeBound	(	std::vector< CollisionObject * > &	objs,
		Vec3s &	l,
		Vec3s &	u
	)

static

compute the bound for the environent

Definition at line 501 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ distance() [1/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 463 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ distance() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

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

Implements coal::BroadPhaseCollisionManager.

Definition at line 262 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ distance() [3/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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 418 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ distance_()

template<typename HashTable >

bool coal::SpatialHashingCollisionManager< HashTable >::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		CoalScalar &	min_dist
	)		const

protected

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

Definition at line 310 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ distanceObjectToObjects()

template<typename HashTable >

template<typename Container >

bool coal::SpatialHashingCollisionManager< HashTable >::distanceObjectToObjects	(	CollisionObject *	obj,
		const Container &	objs,
		DistanceCallBackBase *	callback,
		CoalScalar &	min_dist
	)		const

private

Definition at line 513 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ empty()

template<typename HashTable >

bool coal::SpatialHashingCollisionManager< HashTable >::empty

virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

Definition at line 489 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ getObjects() [1/3]

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

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]

template<typename HashTable >

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

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 246 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ getObjects() [3/3]

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

virtual void coal::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::registerObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 63 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ setup()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::setup

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 105 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ size()

template<typename HashTable >

size_t coal::SpatialHashingCollisionManager< HashTable >::size

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 495 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ unregisterObject()

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::unregisterObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 84 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ update() [1/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::update

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

Definition at line 111 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ update() [2/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

Definition at line 136 of file coal/broadphase/broadphase_spatialhash-inl.h.

◆ update() [3/3]

template<typename HashTable >

void coal::SpatialHashingCollisionManager< HashTable >::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 230 of file coal/broadphase/broadphase_spatialhash-inl.h.

Member Data Documentation

◆ hash_table

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

HashTable* coal::SpatialHashingCollisionManager< HashTable >::hash_table

protected

objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table

Definition at line 152 of file coal/broadphase/broadphase_spatialhash.h.

◆ obj_aabb_map

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::map<CollisionObject*, AABB> coal::SpatialHashingCollisionManager< HashTable >::obj_aabb_map

protected

store the map between objects and their aabbs. will make update more convenient

Definition at line 148 of file coal/broadphase/broadphase_spatialhash.h.

◆ objs

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> coal::SpatialHashingCollisionManager< HashTable >::objs

protected

all objects in the scene

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

◆ objs_outside_scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> coal::SpatialHashingCollisionManager< HashTable >::objs_outside_scene_limit

protected

objects outside the scene limit are in another list

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

◆ objs_partially_penetrating_scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> coal::SpatialHashingCollisionManager< HashTable >::objs_partially_penetrating_scene_limit

protected

objects partially penetrating (not totally inside nor outside) the scene limit are in another list

Definition at line 138 of file coal/broadphase/broadphase_spatialhash.h.

◆ scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

AABB coal::SpatialHashingCollisionManager< HashTable >::scene_limit

protected

the size of the scene

Definition at line 144 of file coal/broadphase/broadphase_spatialhash.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>> class coal::SpatialHashingCollisionManager< HashTable >

Member Typedef Documentation

◆ Base

Member Enumeration Documentation

◆ ObjectStatus

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

◆ ~SpatialHashingCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ computeBound()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ distanceObjectToObjects()

◆ 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

◆ hash_table

◆ obj_aabb_map

◆ objs

◆ objs_outside_scene_limit

◆ objs_partially_penetrating_scene_limit

◆ scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>
class coal::SpatialHashingCollisionManager< HashTable >