Rigorous SAP collision manager. More...

#include <broadphase_SaP.h>

Inheritance diagram for hpp::fcl::SaPCollisionManager:

Classes
struct	EndPoint
	End point for an interval. More...

class	isNotValidPair
	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...

class	isUnregistered
	Functor to help unregister one object. More...

struct	SaPAABB
	SAP interval for one object. More...

struct	SaPPair
	A pair of objects that are not culling away and should further check collision. More...

Public Types
typedef BroadPhaseCollisionManager	Base

Public Member Functions
void	clear ()
	clear the manager More...

void	collide (BroadPhaseCollisionManager other_manager, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager More...

void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	collide (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const
	perform distance test with objects belonging to another manager More...

void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

bool	empty () const
	whether the manager is empty More...

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager More...

virtual void	getObjects (std::vector< CollisionObject * > &objs) const=0
	return the objects managed by the manager More...

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager More...

	SaPCollisionManager ()

void	setup ()
	initialize the manager, related with the specific type of manager More...

size_t	size () const
	the number of objects managed by the manager More...

void	unregisterObject (CollisionObject *obj)
	add one object to the manager More...

virtual void	update ()
	update the condition of manager More...

void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update More...

	~SaPCollisionManager ()

Public Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
void	addToOverlapPairs (const SaPPair &p)

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const

void	removeFromOverlapPairs (const SaPPair &p)

void	update_ (SaPAABB *updated_aabb)

void	updateVelist ()

Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
std::list< SaPAABB * >	AABB_arr
	SAP interval list. More...

EndPoint *	elist [3]
	End point list for x, y, z coordinates. More...

std::map< CollisionObject , SaPAABB >	obj_aabb_map

int	optimal_axis

std::list< SaPPair >	overlap_pairs
	The pair of objects that should further check for collision. More...

std::vector< EndPoint * >	velist [3]
	vector version of elist, for acceleration More...

Protected Attributes inherited from hpp::fcl::BroadPhaseCollisionManager
bool	enable_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. It can be useful for some of the broadphase algorithms. More...

Detailed Description

Rigorous SAP collision manager.

Definition at line 50 of file broadphase_SaP.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager hpp::fcl::SaPCollisionManager::Base

Definition at line 52 of file broadphase_SaP.h.

Constructor & Destructor Documentation

◆ SaPCollisionManager()

hpp::fcl::SaPCollisionManager::SaPCollisionManager ( )

Definition at line 85 of file broadphase_SaP.cpp.

◆ ~SaPCollisionManager()

hpp::fcl::SaPCollisionManager::~SaPCollisionManager ( )

Definition at line 94 of file broadphase_SaP.cpp.

Member Function Documentation

◆ addToOverlapPairs()

void hpp::fcl::SaPCollisionManager::addToOverlapPairs ( const SaPPair & p )

protected

Definition at line 542 of file broadphase_SaP.cpp.

◆ clear()

void hpp::fcl::SaPCollisionManager::clear ( )

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 462 of file broadphase_SaP.cpp.

◆ collide() [1/3]

void hpp::fcl::SaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 714 of file broadphase_SaP.cpp.

◆ collide() [2/3]

void hpp::fcl::SaPCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 682 of file broadphase_SaP.cpp.

◆ collide() [3/3]

void hpp::fcl::SaPCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 569 of file broadphase_SaP.cpp.

◆ collide_()

bool hpp::fcl::SaPCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 496 of file broadphase_SaP.cpp.

◆ distance() [1/3]

void hpp::fcl::SaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 741 of file broadphase_SaP.cpp.

◆ distance() [2/3]

void hpp::fcl::SaPCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 671 of file broadphase_SaP.cpp.

◆ distance() [3/3]

void hpp::fcl::SaPCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 696 of file broadphase_SaP.cpp.

◆ distance_()

bool hpp::fcl::SaPCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

Definition at line 578 of file broadphase_SaP.cpp.

◆ empty()

bool hpp::fcl::SaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 770 of file broadphase_SaP.cpp.

◆ getObjects() [1/3]

virtual std::vector<CollisionObject*> hpp::fcl::BroadPhaseCollisionManager::getObjects

inline

return the objects managed by the manager

Definition at line 88 of file broadphase_collision_manager.h.

◆ getObjects() [2/3]

void hpp::fcl::SaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 485 of file broadphase_SaP.cpp.

◆ getObjects() [3/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

void hpp::fcl::SaPCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 183 of file broadphase_SaP.cpp.

◆ registerObjects()

void hpp::fcl::SaPCollisionManager::registerObjects ( const std::vector< CollisionObject * > & other_objs )

virtual

add objects to the manager

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 97 of file broadphase_SaP.cpp.

◆ removeFromOverlapPairs()

void hpp::fcl::SaPCollisionManager::removeFromOverlapPairs ( const SaPPair & p )

protected

Definition at line 556 of file broadphase_SaP.cpp.

◆ setup()

void hpp::fcl::SaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 272 of file broadphase_SaP.cpp.

◆ size()

size_t hpp::fcl::SaPCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 773 of file broadphase_SaP.cpp.

◆ unregisterObject()

void hpp::fcl::SaPCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 44 of file broadphase_SaP.cpp.

◆ update() [1/3]

void hpp::fcl::SaPCollisionManager::update ( )

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 451 of file broadphase_SaP.cpp.

◆ update() [2/3]

void hpp::fcl::SaPCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 431 of file broadphase_SaP.cpp.

◆ update() [3/3]

void hpp::fcl::SaPCollisionManager::update ( const std::vector< CollisionObject * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 440 of file broadphase_SaP.cpp.

◆ update_()

void hpp::fcl::SaPCollisionManager::update_ ( SaPAABB * updated_aabb )

protected

Definition at line 287 of file broadphase_SaP.cpp.

◆ updateVelist()

void hpp::fcl::SaPCollisionManager::updateVelist ( )

protected

Definition at line 417 of file broadphase_SaP.cpp.

Member Data Documentation

◆ AABB_arr

std::list<SaPAABB*> hpp::fcl::SaPCollisionManager::AABB_arr

protected

SAP interval list.

Definition at line 204 of file broadphase_SaP.h.

◆ elist

EndPoint* hpp::fcl::SaPCollisionManager::elist[3]

protected

End point list for x, y, z coordinates.

Definition at line 198 of file broadphase_SaP.h.

◆ obj_aabb_map

std::map<CollisionObject*, SaPAABB*> hpp::fcl::SaPCollisionManager::obj_aabb_map

protected

Definition at line 211 of file broadphase_SaP.h.

◆ optimal_axis

int hpp::fcl::SaPCollisionManager::optimal_axis

protected

Definition at line 209 of file broadphase_SaP.h.

◆ overlap_pairs

std::list<SaPPair> hpp::fcl::SaPCollisionManager::overlap_pairs

protected

The pair of objects that should further check for collision.

Definition at line 207 of file broadphase_SaP.h.

◆ velist

std::vector<EndPoint*> hpp::fcl::SaPCollisionManager::velist[3]

protected

vector version of elist, for acceleration

Definition at line 201 of file broadphase_SaP.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SaPCollisionManager()

◆ ~SaPCollisionManager()

Member Function Documentation

◆ addToOverlapPairs()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ registerObjects()

◆ removeFromOverlapPairs()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ update_()

◆ updateVelist()

Member Data Documentation

◆ AABB_arr

◆ elist

◆ obj_aabb_map

◆ optimal_axis

◆ overlap_pairs

◆ velist