broadphase_collision_manager.cpp
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35 
39 
40 namespace hpp {
41 namespace fcl {
42 
43 //==============================================================================
45  : enable_tested_set_(false) {
46  // Do nothing
47 }
48 
49 //==============================================================================
51  // Do nothing
52 }
53 
54 //==============================================================================
56  const std::vector<CollisionObject*>& other_objs) {
57  for (size_t i = 0; i < other_objs.size(); ++i) registerObject(other_objs[i]);
58 }
59 
60 //==============================================================================
62  HPP_FCL_UNUSED_VARIABLE(updated_obj);
63 
64  update();
65 }
66 
67 //==============================================================================
69  const std::vector<CollisionObject*>& updated_objs) {
70  HPP_FCL_UNUSED_VARIABLE(updated_objs);
71 
72  update();
73 }
74 
75 //==============================================================================
77  CollisionObject* b) const {
78  if (a < b)
79  return tested_set.find(std::make_pair(a, b)) != tested_set.end();
80  else
81  return tested_set.find(std::make_pair(b, a)) != tested_set.end();
82 }
83 
84 //==============================================================================
86  CollisionObject* b) const {
87  if (a < b)
88  tested_set.insert(std::make_pair(a, b));
89  else
90  tested_set.insert(std::make_pair(b, a));
91 }
92 
93 } // namespace fcl
94 } // namespace hpp
hpp::fcl::BroadPhaseCollisionManager::inTestedSet
bool inTestedSet(CollisionObject *a, CollisionObject *b) const
Definition: broadphase_collision_manager.cpp:76
hpp::fcl::BroadPhaseCollisionManager::BroadPhaseCollisionManager
BroadPhaseCollisionManager()
Definition: broadphase_collision_manager.cpp:44
hpp::fcl::BroadPhaseCollisionManager::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....
Definition: broadphase_collision_manager.h:130
broadphase_collision_manager.h
a
list a
HPP_FCL_UNUSED_VARIABLE
#define HPP_FCL_UNUSED_VARIABLE(var)
Definition: include/hpp/fcl/fwd.hh:55
hpp::fcl::BroadPhaseCollisionManager::registerObject
virtual void registerObject(CollisionObject *obj)=0
add one object to the manager
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::BroadPhaseCollisionManager::~BroadPhaseCollisionManager
virtual ~BroadPhaseCollisionManager()
Definition: broadphase_collision_manager.cpp:50
hpp::fcl::BroadPhaseCollisionManager::update
virtual void update()=0
update the condition of manager
generate_distance_plot.b
float b
Definition: generate_distance_plot.py:7
hpp::fcl::BroadPhaseCollisionManager::registerObjects
virtual void registerObjects(const std::vector< CollisionObject * > &other_objs)
add objects to the manager
Definition: broadphase_collision_manager.cpp:55
hpp::fcl::BroadPhaseCollisionManager::insertTestedSet
void insertTestedSet(CollisionObject *a, CollisionObject *b) const
Definition: broadphase_collision_manager.cpp:85


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