broadphase_dynamic_AABB_tree.h
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35 
38 #ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
39 #define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
40 
41 #include <unordered_map>
42 #include <functional>
43 
44 #include "hpp/fcl/fwd.hh"
45 // #include "hpp/fcl/BV/utility.h"
47 // #include "hpp/fcl/geometry/shape/utility.h"
50 
51 namespace hpp {
52 namespace fcl {
53 
54 class HPP_FCL_DLLAPI DynamicAABBTreeCollisionManager
56  public:
58  using Base::getObjects;
59 
61  using DynamicAABBTable =
62  std::unordered_map<CollisionObject*, DynamicAABBNode*>;
63 
66  int* tree_topdown_balance_threshold{nullptr};
67  int* tree_topdown_level{nullptr};
69 
72 
74 
76  void registerObjects(const std::vector<CollisionObject*>& other_objs);
77 
79  void registerObject(CollisionObject* obj);
80 
82  void unregisterObject(CollisionObject* obj);
83 
85  void setup();
86 
88  virtual void update();
89 
91  void update(CollisionObject* updated_obj);
92 
94  void update(const std::vector<CollisionObject*>& updated_objs);
95 
97  void clear();
98 
100  void getObjects(std::vector<CollisionObject*>& objs) const;
101 
105 
109 
113 
117 
119  void collide(BroadPhaseCollisionManager* other_manager_,
121 
123  void distance(BroadPhaseCollisionManager* other_manager_,
125 
127  bool empty() const;
128 
130  size_t size() const;
131 
133  const detail::HierarchyTree<AABB>& getTree() const;
134 
136  detail::HierarchyTree<AABB>& getTree();
137 
138  private:
140  std::unordered_map<CollisionObject*, DynamicAABBNode*> table;
141 
142  bool setup_;
143 
144  void update_(CollisionObject* updated_obj);
145 };
146 
147 } // namespace fcl
148 
149 } // namespace hpp
150 
152 
153 #endif
setup
collision_manager.callback
callback
Definition: collision_manager.py:27
hpp::fcl::DynamicAABBTreeCollisionManager::DynamicAABBTable
std::unordered_map< CollisionObject *, DynamicAABBNode * > DynamicAABBTable
Definition: broadphase_dynamic_AABB_tree.h:62
broadphase_collision_manager.h
hpp::fcl::DynamicAABBTreeCollisionManager::tree_init_level
int tree_init_level
Definition: broadphase_dynamic_AABB_tree.h:68
hpp::fcl::detail::HierarchyTree
Class for hierarchy tree structure.
Definition: hierarchy_tree.h:57
hpp::fcl::DynamicAABBTreeCollisionManager::Base
BroadPhaseCollisionManager Base
Definition: broadphase_dynamic_AABB_tree.h:57
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
hierarchy_tree.h
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::DynamicAABBTreeCollisionManager::max_tree_nonbalanced_level
int max_tree_nonbalanced_level
Definition: broadphase_dynamic_AABB_tree.h:64
hpp::fcl::DynamicAABBTreeCollisionManager
Definition: broadphase_dynamic_AABB_tree.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::DynamicAABBTreeCollisionManager::table
std::unordered_map< CollisionObject *, DynamicAABBNode * > table
Definition: broadphase_dynamic_AABB_tree.h:140
hpp::fcl::DynamicAABBTreeCollisionManager::tree_incremental_balance_pass
int tree_incremental_balance_pass
Definition: broadphase_dynamic_AABB_tree.h:65
hpp::fcl::DynamicAABBTreeCollisionManager::octree_as_geometry_collide
bool octree_as_geometry_collide
Definition: broadphase_dynamic_AABB_tree.h:70
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
broadphase_dynamic_AABB_tree-inl.h
hpp::fcl::detail::NodeBase
dynamic AABB tree node
Definition: node_base.h:50
fwd.hh
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
geometric_shapes.h
hpp::fcl::DynamicAABBTreeCollisionManager::setup_
bool setup_
Definition: broadphase_dynamic_AABB_tree.h:142
hpp::fcl::DynamicAABBTreeCollisionManager::octree_as_geometry_distance
bool octree_as_geometry_distance
Definition: broadphase_dynamic_AABB_tree.h:71


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