broadphase_bruteforce.h
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35 
38 #ifndef HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H
39 #define HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H
40 
41 #include <list>
43 
44 namespace hpp {
45 namespace fcl {
46 
48 class HPP_FCL_DLLAPI NaiveCollisionManager : public BroadPhaseCollisionManager {
49  public:
51  using Base::getObjects;
52 
54 
56  void registerObjects(const std::vector<CollisionObject*>& other_objs);
57 
59  void registerObject(CollisionObject* obj);
60 
62  void unregisterObject(CollisionObject* obj);
63 
65  void setup();
66 
68  virtual void update();
69 
71  void clear();
72 
74  void getObjects(std::vector<CollisionObject*>& objs) const;
75 
79 
83 
87 
91 
93  void collide(BroadPhaseCollisionManager* other_manager,
95 
97  void distance(BroadPhaseCollisionManager* other_manager,
99 
101  bool empty() const;
102 
104  size_t size() const;
105 
106  protected:
108  std::list<CollisionObject*> objs;
109 };
110 
111 } // namespace fcl
112 
113 } // namespace hpp
114 
115 #endif
setup
collision_manager.callback
callback
Definition: collision_manager.py:27
broadphase_collision_manager.h
hpp::fcl::distance
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS.cpp:181
hpp::fcl::BroadPhaseCollisionManager
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:54
hpp::fcl::collide
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
Definition: src/collision.cpp:63
hpp::fcl::DistanceCallBackBase
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73
hpp::fcl::NaiveCollisionManager::objs
std::list< CollisionObject * > objs
objects belonging to the manager are stored in a list structure
Definition: broadphase_bruteforce.h:108
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
hpp::fcl::NaiveCollisionManager::Base
BroadPhaseCollisionManager Base
Definition: broadphase_bruteforce.h:50
hpp::fcl::NaiveCollisionManager
Brute force N-body collision manager.
Definition: broadphase_bruteforce.h:48
hpp::fcl::CollisionCallBackBase
Base callback class for collision queries. This class can be supersed by child classes to provide des...
Definition: broadphase_callbacks.h:50


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:12