Classes which are used to build a BVHModel (Bounding Volume Hierarchy) More...

Classes
class	coal::BVFitter< BV >
	The class for the default algorithm fitting a bounding volume to a set of points. More...

class	coal::BVHModel< BV >
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

class	coal::BVHModelBase
	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

struct	coal::BVNode< BV >
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

struct	coal::BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...

class	coal::BVSplitter< BV >
	A class describing the split rule that splits each BV node. More...

class	coal::CollisionGeometry
	The geometry for the object for collision or distance computation. More...

class	coal::CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...

Typedefs
typedef BVNodeBase	coal::BVNode< BV >::Base

Functions
	coal::BVNodeBase::BVNodeBase ()
	Default constructor. More...

virtual CollisionGeometry *	coal::CollisionGeometry::clone () const =0
	Clone *this into a new CollisionGeometry. More...

	coal::CollisionGeometry::CollisionGeometry ()

const shared_ptr< CollisionGeometry > &	coal::CollisionObject::collisionGeometry ()
	get shared pointer to collision geometry of the object instance More...

const shared_ptr< const CollisionGeometry >	coal::CollisionObject::collisionGeometry () const
	get shared pointer to collision geometry of the object instance More...

	coal::CollisionGeometry::CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor. More...

CollisionGeometry *	coal::CollisionObject::collisionGeometryPtr ()
	get raw pointer to collision geometry of the object instance More...

const CollisionGeometry *	coal::CollisionObject::collisionGeometryPtr () const
	get raw pointer to collision geometry of the object instance More...

	coal::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, bool compute_local_aabb=true)

	coal::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Matrix3s &R, const Vec3s &T, bool compute_local_aabb=true)

	coal::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Transform3s &tf, bool compute_local_aabb=true)

void	coal::CollisionObject::computeAABB ()
	compute the AABB in world space More...

virtual Vec3s	coal::CollisionGeometry::computeCOM () const
	compute center of mass More...

virtual void	coal::CollisionGeometry::computeLocalAABB ()=0
	compute the AABB for object in local coordinate More...

virtual Matrix3s	coal::CollisionGeometry::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

virtual Matrix3s	coal::CollisionGeometry::computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

virtual CoalScalar	coal::CollisionGeometry::computeVolume () const
	compute the volume More...

CoalScalar	coal::BVNode< BV >::distance (const BVNode &other, Vec3s P1=NULL, Vec3s P2=NULL) const
	Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More...

AABB &	coal::CollisionObject::getAABB ()
	get the AABB in world space More...

const AABB &	coal::CollisionObject::getAABB () const
	get the AABB in world space More...

Vec3s	coal::BVNode< BV >::getCenter () const
	Access to the center of the BV. More...

virtual NODE_TYPE	coal::CollisionGeometry::getNodeType () const
	get the node type More...

NODE_TYPE	coal::CollisionObject::getNodeType () const
	get the node type More...

virtual OBJECT_TYPE	coal::CollisionGeometry::getObjectType () const
	get the type of the object More...

OBJECT_TYPE	coal::CollisionObject::getObjectType () const
	get the type of the object More...

const Matrix3s &	coal::BVNode< BV >::getOrientation () const
	Access to the orientation of the BV. More...

const Matrix3s &	coal::CollisionObject::getRotation () const
	get matrix rotation of the object More...

const Transform3s &	coal::CollisionObject::getTransform () const
	get object's transform More...

const Vec3s &	coal::CollisionObject::getTranslation () const
	get translation of the object More...

void *	coal::CollisionGeometry::getUserData () const
	get user data in geometry More...

void *	coal::CollisionObject::getUserData () const
	get user data in object More...

void	coal::CollisionObject::init (bool compute_local_aabb=true)

virtual bool	coal::CollisionGeometry::isEqual (const CollisionGeometry &other) const =0
	equal operator with another object of derived type. More...

bool	coal::CollisionGeometry::isFree () const
	whether the object is completely free More...

bool	coal::CollisionObject::isIdentityTransform () const
	whether the object is in local coordinate More...

bool	coal::BVNodeBase::isLeaf () const
	Whether current node is a leaf node (i.e. contains a primitive index. More...

virtual bool	coal::CollisionGeometry::isNotEqual (const CollisionGeometry &other) const
	not equal operator with another object of derived type. More...

bool	coal::CollisionGeometry::isOccupied () const
	whether the object is completely occupied More...

bool	coal::CollisionGeometry::isUncertain () const
	whether the object has some uncertainty More...

int	coal::BVNodeBase::leftChild () const
	Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...

bool	coal::BVNode< BV >::operator!= (const BVNode &other) const
	Difference operator. More...

bool	coal::BVNodeBase::operator!= (const BVNodeBase &other) const
	Difference operator. More...

bool	coal::CollisionGeometry::operator!= (const CollisionGeometry &other) const
	Difference operator. More...

bool	coal::CollisionObject::operator!= (const CollisionObject &other) const

bool	coal::BVNode< BV >::operator== (const BVNode &other) const
	Equality operator. More...

bool	coal::BVNodeBase::operator== (const BVNodeBase &other) const
	Equality operator. More...

bool	coal::CollisionGeometry::operator== (const CollisionGeometry &other) const
	Equality operator. More...

bool	coal::CollisionObject::operator== (const CollisionObject &other) const

bool	coal::BVNode< BV >::overlap (const BVNode &other) const
	Check whether two BVNode collide. More...

bool	coal::BVNode< BV >::overlap (const BVNode &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const
	Check whether two BVNode collide. More...

int	coal::BVNodeBase::primitiveId () const
	Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More...

int	coal::BVNodeBase::rightChild () const
	Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...

void	coal::CollisionObject::setCollisionGeometry (const shared_ptr< CollisionGeometry > &collision_geometry, bool compute_local_aabb=true)
	Associate a new CollisionGeometry. More...

void	coal::CollisionObject::setIdentityTransform ()
	set the object in local coordinate More...

void	coal::CollisionObject::setRotation (const Matrix3s &R)
	set object's rotation matrix More...

void	coal::CollisionObject::setTransform (const Matrix3s &R, const Vec3s &T)
	set object's transform More...

void	coal::CollisionObject::setTransform (const Transform3s &tf)
	set object's transform More...

void	coal::CollisionObject::setTranslation (const Vec3s &T)
	set object's translation More...

void	coal::CollisionGeometry::setUserData (void *data)
	set user data in geometry More...

void	coal::CollisionObject::setUserData (void *data)
	set user data in object More...

virtual	coal::CollisionGeometry::~CollisionGeometry ()

	coal::CollisionObject::~CollisionObject ()

Variables
AABB	coal::CollisionObject::aabb
	AABB in global coordinate. More...

Vec3s	coal::CollisionGeometry::aabb_center
	AABB center in local coordinate. More...

AABB	coal::CollisionGeometry::aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

CoalScalar	coal::CollisionGeometry::aabb_radius
	AABB radius. More...

BV	coal::BVNode< BV >::bv
	bounding volume storing the geometry More...

shared_ptr< CollisionGeometry >	coal::CollisionObject::cgeom

CoalScalar	coal::CollisionGeometry::cost_density
	collision cost for unit volume More...

int	coal::BVNodeBase::first_child
	An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More...

unsigned int	coal::BVNodeBase::first_primitive
	The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly. More...

unsigned int	coal::BVNodeBase::num_primitives
	The number of primitives belonging to the current node. More...

Transform3s	coal::CollisionObject::t

CoalScalar	coal::CollisionGeometry::threshold_free
	threshold for free (<= is free) More...

CoalScalar	coal::CollisionGeometry::threshold_occupied
	threshold for occupied ( >= is occupied) More...

void *	coal::CollisionGeometry::user_data
	pointer to user defined data specific to this object More...

void *	coal::CollisionObject::user_data
	pointer to user defined data specific to this object More...

Detailed Description

Classes which are used to build a BVHModel (Bounding Volume Hierarchy)

Typedef Documentation

◆ Base

template<typename BV >

typedef BVNodeBase coal::BVNode< BV >::Base

Definition at line 107 of file coal/BV/BV_node.h.

Function Documentation

◆ BVNodeBase()

coal::BVNodeBase::BVNodeBase ( )

inline

Default constructor.

Definition at line 67 of file coal/BV/BV_node.h.

◆ clone()

virtual CollisionGeometry* coal::CollisionGeometry::clone ( ) const

pure virtual

Clone *this into a new CollisionGeometry.

Implemented in coal::Plane, coal::Halfspace, coal::ConvexBase, coal::Cylinder, coal::Cone, coal::Capsule, coal::BVHModel< BV >, coal::Ellipsoid, coal::HeightField< BV >, coal::Sphere, coal::Box, coal::TriangleP, and coal::OcTree.

◆ CollisionGeometry() [1/2]

coal::CollisionGeometry::CollisionGeometry ( )

inline

Definition at line 96 of file coal/collision_object.h.

◆ collisionGeometry() [1/2]

const shared_ptr<CollisionGeometry>& coal::CollisionObject::collisionGeometry ( )

inline

get shared pointer to collision geometry of the object instance

Definition at line 316 of file coal/collision_object.h.

◆ collisionGeometry() [2/2]

const shared_ptr<const CollisionGeometry> coal::CollisionObject::collisionGeometry ( ) const

inline

get shared pointer to collision geometry of the object instance

Definition at line 311 of file coal/collision_object.h.

◆ CollisionGeometry() [2/2]

coal::CollisionGeometry::CollisionGeometry ( const CollisionGeometry & other )

default

Copy constructor.

◆ collisionGeometryPtr() [1/2]

CollisionGeometry* coal::CollisionObject::collisionGeometryPtr ( )

inline

get raw pointer to collision geometry of the object instance

Definition at line 322 of file coal/collision_object.h.

◆ collisionGeometryPtr() [2/2]

const CollisionGeometry* coal::CollisionObject::collisionGeometryPtr ( ) const

inline

get raw pointer to collision geometry of the object instance

Definition at line 319 of file coal/collision_object.h.

◆ CollisionObject() [1/3]

coal::CollisionObject::CollisionObject	(	const shared_ptr< CollisionGeometry > &	cgeom_,
		bool	compute_local_aabb = `true`
	)

inline

Definition at line 216 of file coal/collision_object.h.

◆ CollisionObject() [2/3]

coal::CollisionObject::CollisionObject	(	const shared_ptr< CollisionGeometry > &	cgeom_,
		const Matrix3s &	R,
		const Vec3s &	T,
		bool	compute_local_aabb = `true`
	)

inline

Definition at line 228 of file coal/collision_object.h.

◆ CollisionObject() [3/3]

coal::CollisionObject::CollisionObject	(	const shared_ptr< CollisionGeometry > &	cgeom_,
		const Transform3s &	tf,
		bool	compute_local_aabb = `true`
	)

inline

Definition at line 222 of file coal/collision_object.h.

◆ computeAABB()

void coal::CollisionObject::computeAABB ( )

inline

compute the AABB in world space

Definition at line 258 of file coal/collision_object.h.

◆ computeCOM()

virtual Vec3s coal::CollisionGeometry::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented in coal::Cone, coal::HeightField< BV >, and coal::BVHModelBase.

Definition at line 173 of file coal/collision_object.h.

◆ computeLocalAABB()

virtual void coal::CollisionGeometry::computeLocalAABB ( )

pure virtual

compute the AABB for object in local coordinate

Implemented in coal::Plane, coal::Halfspace, coal::ConvexBase, coal::Cylinder, coal::Cone, coal::Capsule, coal::Ellipsoid, coal::HeightField< BV >, coal::Sphere, coal::Box, coal::TriangleP, coal::BVHModelBase, and coal::OcTree.

◆ computeMomentofInertia()

virtual Matrix3s coal::CollisionGeometry::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented in coal::Cylinder, coal::Cone, coal::Capsule, coal::HeightField< BV >, coal::Ellipsoid, coal::Sphere, coal::BVHModelBase, and coal::Box.

Definition at line 176 of file coal/collision_object.h.

◆ computeMomentofInertiaRelatedToCOM()

virtual Matrix3s coal::CollisionGeometry::computeMomentofInertiaRelatedToCOM ( ) const

inlinevirtual

compute the inertia matrix, related to the com

Definition at line 184 of file coal/collision_object.h.

◆ computeVolume()

virtual CoalScalar coal::CollisionGeometry::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented in coal::Cylinder, coal::Cone, coal::Capsule, coal::Ellipsoid, coal::HeightField< BV >, coal::Sphere, coal::BVHModelBase, and coal::Box.

Definition at line 181 of file coal/collision_object.h.

◆ distance()

template<typename BV >

CoalScalar coal::BVNode< BV >::distance	(	const BVNode< BV > &	other,
		Vec3s *	P1 = `NULL`,
		Vec3s *	P2 = `NULL`
	)		const

inline

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

Definition at line 130 of file coal/BV/BV_node.h.

◆ getAABB() [1/2]

AABB& coal::CollisionObject::getAABB ( )

inline

get the AABB in world space

Definition at line 255 of file coal/collision_object.h.

◆ getAABB() [2/2]

const AABB& coal::CollisionObject::getAABB ( ) const

inline

get the AABB in world space

Definition at line 252 of file coal/collision_object.h.

◆ getCenter()

template<typename BV >

Vec3s coal::BVNode< BV >::getCenter ( ) const

inline

Access to the center of the BV.

Definition at line 136 of file coal/BV/BV_node.h.

◆ getNodeType() [1/2]

virtual NODE_TYPE coal::CollisionGeometry::getNodeType ( ) const

inlinevirtual

get the node type

Definition at line 130 of file coal/collision_object.h.

◆ getNodeType() [2/2]

NODE_TYPE coal::CollisionObject::getNodeType ( ) const

inline

get the node type

Definition at line 249 of file coal/collision_object.h.

◆ getObjectType() [1/2]

virtual OBJECT_TYPE coal::CollisionGeometry::getObjectType ( ) const

inlinevirtual

get the type of the object

Reimplemented in coal::HeightField< BV >, coal::OcTree, coal::BVHModelBase, and coal::ShapeBase.

Definition at line 127 of file coal/collision_object.h.

◆ getObjectType() [2/2]

OBJECT_TYPE coal::CollisionObject::getObjectType ( ) const

inline

get the type of the object

Definition at line 246 of file coal/collision_object.h.

◆ getOrientation()

template<typename BV >

const Matrix3s& coal::BVNode< BV >::getOrientation ( ) const

inline

Access to the orientation of the BV.

Definition at line 139 of file coal/BV/BV_node.h.

◆ getRotation()

const Matrix3s& coal::CollisionObject::getRotation ( ) const

inline

get matrix rotation of the object

Definition at line 287 of file coal/collision_object.h.

◆ getTransform()

const Transform3s& coal::CollisionObject::getTransform ( ) const

inline

get object's transform

Definition at line 290 of file coal/collision_object.h.

◆ getTranslation()

const Vec3s& coal::CollisionObject::getTranslation ( ) const

inline

get translation of the object

Definition at line 284 of file coal/collision_object.h.

◆ getUserData() [1/2]

void* coal::CollisionGeometry::getUserData ( ) const

inline

get user data in geometry

Definition at line 136 of file coal/collision_object.h.

◆ getUserData() [2/2]

void* coal::CollisionObject::getUserData ( ) const

inline

get user data in object

Definition at line 278 of file coal/collision_object.h.

◆ init()

void coal::CollisionObject::init ( bool compute_local_aabb = true )

inlineprotected

Definition at line 340 of file coal/collision_object.h.

◆ isEqual()

virtual bool coal::CollisionGeometry::isEqual ( const CollisionGeometry & other ) const

privatepure virtual

equal operator with another object of derived type.

Implemented in coal::BVHModelBase, coal::Plane, coal::Halfspace, coal::ConvexBase, coal::Cylinder, coal::Cone, coal::HeightField< BV >, coal::Capsule, coal::BVHModel< BV >, coal::Ellipsoid, coal::Sphere, coal::OcTree, coal::Box, and coal::TriangleP.

◆ isFree()

bool coal::CollisionGeometry::isFree ( ) const

inline

whether the object is completely free

Definition at line 145 of file coal/collision_object.h.

◆ isIdentityTransform()

bool coal::CollisionObject::isIdentityTransform ( ) const

inline

whether the object is in local coordinate

Definition at line 305 of file coal/collision_object.h.

◆ isLeaf()

bool coal::BVNodeBase::isLeaf ( ) const

inline

Whether current node is a leaf node (i.e. contains a primitive index.

Definition at line 87 of file coal/BV/BV_node.h.

◆ isNotEqual()

virtual bool coal::CollisionGeometry::isNotEqual ( const CollisionGeometry & other ) const

inlineprivatevirtual

not equal operator with another object of derived type.

Definition at line 204 of file coal/collision_object.h.

◆ isOccupied()

bool coal::CollisionGeometry::isOccupied ( ) const

inline

whether the object is completely occupied

Definition at line 142 of file coal/collision_object.h.

◆ isUncertain()

bool coal::CollisionGeometry::isUncertain ( ) const

whether the object has some uncertainty

Definition at line 41 of file collision_object.cpp.

◆ leftChild()

int coal::BVNodeBase::leftChild ( ) const

inline

Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

Definition at line 95 of file coal/BV/BV_node.h.

◆ operator!=() [1/4]

template<typename BV >

bool coal::BVNode< BV >::operator!= ( const BVNode< BV > & other ) const

inline

Difference operator.

Definition at line 118 of file coal/BV/BV_node.h.

◆ operator!=() [2/4]

bool coal::BVNodeBase::operator!= ( const BVNodeBase & other ) const

inline

Difference operator.

Definition at line 83 of file coal/BV/BV_node.h.

◆ operator!=() [3/4]

bool coal::CollisionGeometry::operator!= ( const CollisionGeometry & other ) const

inline

Difference operator.

Definition at line 122 of file coal/collision_object.h.

◆ operator!=() [4/4]

bool coal::CollisionObject::operator!= ( const CollisionObject & other ) const

inline

Definition at line 239 of file coal/collision_object.h.

◆ operator==() [1/4]

template<typename BV >

bool coal::BVNode< BV >::operator== ( const BVNode< BV > & other ) const

inline

Equality operator.

Definition at line 113 of file coal/BV/BV_node.h.

◆ operator==() [2/4]

bool coal::BVNodeBase::operator== ( const BVNodeBase & other ) const

inline

Equality operator.

Definition at line 76 of file coal/BV/BV_node.h.

◆ operator==() [3/4]

bool coal::CollisionGeometry::operator== ( const CollisionGeometry & other ) const

inline

Equality operator.

Definition at line 112 of file coal/collision_object.h.

◆ operator==() [4/4]

bool coal::CollisionObject::operator== ( const CollisionObject & other ) const

inline

Definition at line 235 of file coal/collision_object.h.

◆ overlap() [1/2]

template<typename BV >

bool coal::BVNode< BV >::overlap ( const BVNode< BV > & other ) const

inline

Check whether two BVNode collide.

Definition at line 121 of file coal/BV/BV_node.h.

◆ overlap() [2/2]

template<typename BV >

bool coal::BVNode< BV >::overlap	(	const BVNode< BV > &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)		const

inline

Check whether two BVNode collide.

Definition at line 123 of file coal/BV/BV_node.h.

◆ primitiveId()

int coal::BVNodeBase::primitiveId ( ) const

inline

Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.

Definition at line 91 of file coal/BV/BV_node.h.

◆ rightChild()

int coal::BVNodeBase::rightChild ( ) const

inline

Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

Definition at line 99 of file coal/BV/BV_node.h.

◆ setCollisionGeometry()

void coal::CollisionObject::setCollisionGeometry	(	const shared_ptr< CollisionGeometry > &	collision_geometry,
		bool	compute_local_aabb = `true`
	)

inline

Associate a new CollisionGeometry.

Parameters

[in]	collision_geometry	The new CollisionGeometry
[in]	compute_local_aabb	Whether the local aabb of the input new has to be computed.

Definition at line 330 of file coal/collision_object.h.

◆ setIdentityTransform()

void coal::CollisionObject::setIdentityTransform ( )

inline

set the object in local coordinate

Definition at line 308 of file coal/collision_object.h.

◆ setRotation()

void coal::CollisionObject::setRotation ( const Matrix3s & R )

inline

set object's rotation matrix

Definition at line 293 of file coal/collision_object.h.

◆ setTransform() [1/2]

void coal::CollisionObject::setTransform	(	const Matrix3s &	R,
		const Vec3s &	T
	)

inline

set object's transform

Definition at line 299 of file coal/collision_object.h.

◆ setTransform() [2/2]

void coal::CollisionObject::setTransform ( const Transform3s & tf )

inline

set object's transform

Definition at line 302 of file coal/collision_object.h.

◆ setTranslation()

void coal::CollisionObject::setTranslation ( const Vec3s & T )

inline

set object's translation

Definition at line 296 of file coal/collision_object.h.

◆ setUserData() [1/2]

void coal::CollisionGeometry::setUserData ( void * data )

inline

set user data in geometry

Definition at line 139 of file coal/collision_object.h.

◆ setUserData() [2/2]

void coal::CollisionObject::setUserData ( void * data )

inline

set user data in object

Definition at line 281 of file coal/collision_object.h.

◆ ~CollisionGeometry()

virtual coal::CollisionGeometry::~CollisionGeometry ( )

inlinevirtual

Definition at line 106 of file coal/collision_object.h.

◆ ~CollisionObject()

coal::CollisionObject::~CollisionObject ( )

inline

Definition at line 243 of file coal/collision_object.h.

Variable Documentation

◆ aabb

AABB coal::CollisionObject::aabb

mutableprotected

AABB in global coordinate.

Definition at line 352 of file coal/collision_object.h.

◆ aabb_center

Vec3s coal::CollisionGeometry::aabb_center

AABB center in local coordinate.

Definition at line 151 of file coal/collision_object.h.

◆ aabb_local

AABB coal::CollisionGeometry::aabb_local

AABB in local coordinate, used for tight AABB when only translation transform.

Definition at line 158 of file coal/collision_object.h.

◆ aabb_radius

CoalScalar coal::CollisionGeometry::aabb_radius

AABB radius.

Definition at line 154 of file coal/collision_object.h.

◆ bv

template<typename BV >

BV coal::BVNode< BV >::bv

bounding volume storing the geometry

Definition at line 110 of file coal/BV/BV_node.h.

◆ cgeom

shared_ptr<CollisionGeometry> coal::CollisionObject::cgeom

protected

Definition at line 347 of file coal/collision_object.h.

◆ cost_density

CoalScalar coal::CollisionGeometry::cost_density

collision cost for unit volume

Definition at line 164 of file coal/collision_object.h.

◆ first_child

int coal::BVNodeBase::first_child

An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.

Definition at line 56 of file coal/BV/BV_node.h.

◆ first_primitive

unsigned int coal::BVNodeBase::first_primitive

The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.

Definition at line 61 of file coal/BV/BV_node.h.

◆ num_primitives

unsigned int coal::BVNodeBase::num_primitives

The number of primitives belonging to the current node.

Definition at line 64 of file coal/BV/BV_node.h.

◆ t

Transform3s coal::CollisionObject::t

protected

Definition at line 349 of file coal/collision_object.h.

◆ threshold_free

CoalScalar coal::CollisionGeometry::threshold_free

threshold for free (<= is free)

Definition at line 170 of file coal/collision_object.h.

◆ threshold_occupied

CoalScalar coal::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

Definition at line 167 of file coal/collision_object.h.

◆ user_data [1/2]

void* coal::CollisionGeometry::user_data

pointer to user defined data specific to this object

Definition at line 161 of file coal/collision_object.h.

◆ user_data [2/2]

void* coal::CollisionObject::user_data

protected

pointer to user defined data specific to this object

Definition at line 355 of file coal/collision_object.h.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ Base

Function Documentation

◆ BVNodeBase()

◆ clone()

◆ CollisionGeometry() [1/2]

◆ collisionGeometry() [1/2]

◆ collisionGeometry() [2/2]

◆ CollisionGeometry() [2/2]

◆ collisionGeometryPtr() [1/2]

◆ collisionGeometryPtr() [2/2]

◆ CollisionObject() [1/3]

◆ CollisionObject() [2/3]

◆ CollisionObject() [3/3]

◆ computeAABB()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeMomentofInertiaRelatedToCOM()

◆ computeVolume()

◆ distance()

◆ getAABB() [1/2]

◆ getAABB() [2/2]

◆ getCenter()

◆ getNodeType() [1/2]

◆ getNodeType() [2/2]

◆ getObjectType() [1/2]

◆ getObjectType() [2/2]

◆ getOrientation()

◆ getRotation()

◆ getTransform()

◆ getTranslation()

◆ getUserData() [1/2]

◆ getUserData() [2/2]

◆ init()

◆ isEqual()

◆ isFree()

◆ isIdentityTransform()

◆ isLeaf()

◆ isNotEqual()

◆ isOccupied()

◆ isUncertain()

◆ leftChild()

◆ operator!=() [1/4]

◆ operator!=() [2/4]

◆ operator!=() [3/4]

◆ operator!=() [4/4]

◆ operator==() [1/4]

◆ operator==() [2/4]

◆ operator==() [3/4]

◆ operator==() [4/4]

◆ overlap() [1/2]

◆ overlap() [2/2]

◆ primitiveId()

◆ rightChild()

◆ setCollisionGeometry()

◆ setIdentityTransform()

◆ setRotation()

◆ setTransform() [1/2]

◆ setTransform() [2/2]

◆ setTranslation()

◆ setUserData() [1/2]

◆ setUserData() [2/2]

◆ ~CollisionGeometry()

◆ ~CollisionObject()

Variable Documentation

◆ aabb

◆ aabb_center

◆ aabb_local

◆ aabb_radius

◆ bv

◆ cgeom

◆ cost_density

◆ first_child

◆ first_primitive