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38 #ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
39 #define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
41 #include <unordered_map>
58 using Base::getObjects;
62 std::unordered_map<CollisionObject*, DynamicAABBNode*>;
66 int* tree_topdown_balance_threshold{
nullptr};
67 int* tree_topdown_level{
nullptr};
76 void registerObjects(
const std::vector<CollisionObject*>& other_objs);
88 virtual void update();
94 void update(
const std::vector<CollisionObject*>& updated_objs);
100 void getObjects(std::vector<CollisionObject*>& objs)
const;
140 std::unordered_map<CollisionObject*, DynamicAABBNode*>
table;
std::unordered_map< CollisionObject *, DynamicAABBNode * > DynamicAABBTable
Class for hierarchy tree structure.
BroadPhaseCollisionManager Base
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.
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
int max_tree_nonbalanced_level
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,...
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
std::unordered_map< CollisionObject *, DynamicAABBNode * > table
int tree_incremental_balance_pass
bool octree_as_geometry_collide
the object for collision or distance computation, contains the geometry and the transform information
Base callback class for collision queries. This class can be supersed by child classes to provide des...
bool octree_as_geometry_distance
hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:12