broadphase_dynamic_AABB_tree.h
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35 
38 #ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
39 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
40 
41 #include <unordered_map>
42 #include <functional>
43 
44 #include "fcl/math/bv/utility.h"
45 #include "fcl/geometry/shape/box.h"
49 
50 namespace fcl
51 {
52 
53 template <typename S>
55 {
56 public:
57 
59  using DynamicAABBTable = std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> ;
60 
66 
69 
71 
73  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
74 
76  void registerObject(CollisionObject<S>* obj);
77 
79  void unregisterObject(CollisionObject<S>* obj);
80 
82  void setup();
83 
85  void update();
86 
88  void update(CollisionObject<S>* updated_obj);
89 
91  void update(const std::vector<CollisionObject<S>*>& updated_objs);
92 
94  void clear();
95 
97  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
98 
100  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
101 
103  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
104 
106  void collide(void* cdata, CollisionCallBack<S> callback) const;
107 
109  void distance(void* cdata, DistanceCallBack<S> callback) const;
110 
112  void collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const;
113 
115  void distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const;
116 
118  bool empty() const;
119 
121  size_t size() const;
122 
123  const detail::HierarchyTree<AABB<S>>& getTree() const;
124 
125 private:
127  std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> table;
128 
129  bool setup_;
130 
131  void update_(CollisionObject<S>* updated_obj);
132 };
133 
136 
137 } // namespace fcl
138 
140 
141 #endif
fcl::DynamicAABBTreeCollisionManager::dtree
detail::HierarchyTree< AABB< S > > dtree
Definition: broadphase_dynamic_AABB_tree.h:126
fcl::DynamicAABBTreeCollisionManager::tree_topdown_balance_threshold
int & tree_topdown_balance_threshold
Definition: broadphase_dynamic_AABB_tree.h:63
utility.h
fcl::DynamicAABBTreeCollisionManager::tree_incremental_balance_pass
int tree_incremental_balance_pass
Definition: broadphase_dynamic_AABB_tree.h:62
fcl::DynamicAABBTreeCollisionManager
Definition: broadphase_dynamic_AABB_tree.h:54
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
broadphase_collision_manager.h
fcl::DynamicAABBTreeCollisionManager::table
std::unordered_map< CollisionObject< S > *, DynamicAABBNode * > table
Definition: broadphase_dynamic_AABB_tree.h:127
hierarchy_tree.h
obj
CollisionObject< S > * obj
object
Definition: broadphase_SaP.h:164
fcl::DynamicAABBTreeCollisionManager::setup_
bool setup_
Definition: broadphase_dynamic_AABB_tree.h:129
fcl::DistanceCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata, S &dist) DistanceCallBack
Callback for distance between two objects, Return value is whether can stop now, also return the mini...
Definition: broadphase_collision_manager.h:60
fcl::DynamicAABBTreeCollisionManager::octree_as_geometry_collide
bool octree_as_geometry_collide
Definition: broadphase_dynamic_AABB_tree.h:67
fcl::CollisionCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now.
Definition: broadphase_collision_manager.h:53
box.h
fcl::detail::NodeBase
dynamic AABB tree node
Definition: node_base.h:51
fcl::collide
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::DynamicAABBTreeCollisionManager::max_tree_nonbalanced_level
int max_tree_nonbalanced_level
Definition: broadphase_dynamic_AABB_tree.h:61
broadphase_dynamic_AABB_tree-inl.h
fcl::DynamicAABBTreeCollisionManager::DynamicAABBTable
std::unordered_map< CollisionObject< S > *, DynamicAABBNode * > DynamicAABBTable
Definition: broadphase_dynamic_AABB_tree.h:59
fcl::DynamicAABBTreeCollisionManager::tree_init_level
int tree_init_level
Definition: broadphase_dynamic_AABB_tree.h:65
utility.h
fcl::DynamicAABBTreeCollisionManager::octree_as_geometry_distance
bool octree_as_geometry_distance
Definition: broadphase_dynamic_AABB_tree.h:68
fcl::DynamicAABBTreeCollisionManager::tree_topdown_level
int & tree_topdown_level
Definition: broadphase_dynamic_AABB_tree.h:64
fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:51
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::HierarchyTree
Class for hierarchy tree structure.
Definition: hierarchy_tree.h:58
fcl::BroadPhaseCollisionManager
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66


fcl
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autogenerated on Sat Sep 11 2021 02:37:41