spatial hashing collision mananger More...

#include <broadphase_spatialhash.h>

Inheritance diagram for hpp::fcl::SpatialHashingCollisionManager< HashTable >:

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 ot 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)
	add one object to the manager More...

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...

	SpatialHashingCollisionManager (FCL_REAL cell_size, const Vec3f &scene_min, const Vec3f &scene_max, unsigned int default_table_size=1000)

void	unregisterObject (CollisionObject *obj)
	remove one object from 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...

	~SpatialHashingCollisionManager ()

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

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

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

virtual	~BroadPhaseCollisionManager ()

Static Public Member Functions
static void	computeBound (std::vector< CollisionObject * > &objs, Vec3f &l, Vec3f &u)
	compute the bound for the environent More...

Protected Member Functions
bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const
	perform distance computation between one object and all the objects belonging ot the manager More...

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

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
HashTable *	hash_table
	objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table More...

std::map< CollisionObject *, AABB >	obj_aabb_map
	store the map between objects and their aabbs. will make update more convenient More...

std::list< CollisionObject * >	objs
	all objects in the scene More...

std::list< CollisionObject * >	objs_outside_scene_limit
	objects outside the scene limit are in another list More...

std::list< CollisionObject * >	objs_partially_penetrating_scene_limit
	objects partially penetrating (not totally inside nor outside) the scene limit are in another list More...

AABB	scene_limit
	the size of the scene 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...

Private Types
enum	ObjectStatus { Inside, PartiallyPenetrating, Outside }

Private Member Functions
template<typename Container >
bool	distanceObjectToObjects (CollisionObject obj, const Container &objs, DistanceCallBackBase callback, FCL_REAL &min_dist) const

Detailed Description

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>
class hpp::fcl::SpatialHashingCollisionManager< HashTable >

spatial hashing collision mananger

Definition at line 55 of file broadphase_spatialhash.h.

Member Typedef Documentation

◆ Base

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

typedef BroadPhaseCollisionManager hpp::fcl::SpatialHashingCollisionManager< HashTable >::Base

Definition at line 57 of file broadphase_spatialhash.h.

Member Enumeration Documentation

◆ ObjectStatus

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

enum hpp::fcl::SpatialHashingCollisionManager::ObjectStatus

private

Enumerator
Inside
PartiallyPenetrating
Outside

Definition at line 156 of file broadphase_spatialhash.h.

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

template<typename HashTable >

hpp::fcl::SpatialHashingCollisionManager< HashTable >::SpatialHashingCollisionManager	(	FCL_REAL	cell_size,
		const Vec3f &	scene_min,
		const Vec3f &	scene_max,
		unsigned int	default_table_size = `1000`
	)

Definition at line 48 of file broadphase_spatialhash-inl.h.

◆ ~SpatialHashingCollisionManager()

template<typename HashTable >

hpp::fcl::SpatialHashingCollisionManager< HashTable >::~SpatialHashingCollisionManager

Definition at line 58 of file broadphase_spatialhash-inl.h.

Member Function Documentation

◆ clear()

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::clear

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 238 of file broadphase_spatialhash-inl.h.

◆ collide() [1/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 438 of file broadphase_spatialhash-inl.h.

◆ collide() [2/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::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 378 of file broadphase_spatialhash-inl.h.

◆ collide() [3/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::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 255 of file broadphase_spatialhash-inl.h.

◆ collide_()

template<typename HashTable >

bool hpp::fcl::SpatialHashingCollisionManager< HashTable >::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

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

Definition at line 272 of file broadphase_spatialhash-inl.h.

◆ computeBound()

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::computeBound	(	std::vector< CollisionObject * > &	objs,
		Vec3f &	l,
		Vec3f &	u
	)

static

compute the bound for the environent

Definition at line 502 of file broadphase_spatialhash-inl.h.

◆ distance() [1/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 464 of file broadphase_spatialhash-inl.h.

◆ distance() [2/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 263 of file broadphase_spatialhash-inl.h.

◆ distance() [3/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::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 419 of file broadphase_spatialhash-inl.h.

◆ distance_()

template<typename HashTable >

bool hpp::fcl::SpatialHashingCollisionManager< HashTable >::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

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

Definition at line 311 of file broadphase_spatialhash-inl.h.

◆ distanceObjectToObjects()

template<typename HashTable >

template<typename Container >

bool hpp::fcl::SpatialHashingCollisionManager< HashTable >::distanceObjectToObjects	(	CollisionObject *	obj,
		const Container &	objs,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

private

Definition at line 514 of file broadphase_spatialhash-inl.h.

◆ empty()

template<typename HashTable >

bool hpp::fcl::SpatialHashingCollisionManager< HashTable >::empty

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 490 of file broadphase_spatialhash-inl.h.

◆ getObjects() [1/3]

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

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]

template<typename HashTable >

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

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 247 of file broadphase_spatialhash-inl.h.

◆ getObjects() [3/3]

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

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

return the objects managed by the manager

◆ registerObject()

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::registerObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 64 of file broadphase_spatialhash-inl.h.

◆ setup()

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::setup

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 106 of file broadphase_spatialhash-inl.h.

◆ size()

template<typename HashTable >

size_t hpp::fcl::SpatialHashingCollisionManager< HashTable >::size

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 496 of file broadphase_spatialhash-inl.h.

◆ unregisterObject()

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::unregisterObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 85 of file broadphase_spatialhash-inl.h.

◆ update() [1/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::update

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 112 of file broadphase_spatialhash-inl.h.

◆ update() [2/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 137 of file broadphase_spatialhash-inl.h.

◆ update() [3/3]

template<typename HashTable >

void hpp::fcl::SpatialHashingCollisionManager< HashTable >::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 231 of file broadphase_spatialhash-inl.h.

Member Data Documentation

◆ hash_table

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

HashTable* hpp::fcl::SpatialHashingCollisionManager< HashTable >::hash_table

protected

objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table

Definition at line 153 of file broadphase_spatialhash.h.

◆ obj_aabb_map

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::map<CollisionObject*, AABB> hpp::fcl::SpatialHashingCollisionManager< HashTable >::obj_aabb_map

protected

store the map between objects and their aabbs. will make update more convenient

Definition at line 149 of file broadphase_spatialhash.h.

◆ objs

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> hpp::fcl::SpatialHashingCollisionManager< HashTable >::objs

protected

all objects in the scene

Definition at line 135 of file broadphase_spatialhash.h.

◆ objs_outside_scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> hpp::fcl::SpatialHashingCollisionManager< HashTable >::objs_outside_scene_limit

protected

objects outside the scene limit are in another list

Definition at line 142 of file broadphase_spatialhash.h.

◆ objs_partially_penetrating_scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

std::list<CollisionObject*> hpp::fcl::SpatialHashingCollisionManager< HashTable >::objs_partially_penetrating_scene_limit

protected

objects partially penetrating (not totally inside nor outside) the scene limit are in another list

Definition at line 139 of file broadphase_spatialhash.h.

◆ scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>

AABB hpp::fcl::SpatialHashingCollisionManager< HashTable >::scene_limit

protected

the size of the scene

Definition at line 145 of file broadphase_spatialhash.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>> class hpp::fcl::SpatialHashingCollisionManager< HashTable >

Member Typedef Documentation

◆ Base

Member Enumeration Documentation

◆ ObjectStatus

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

◆ ~SpatialHashingCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ computeBound()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ distanceObjectToObjects()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ hash_table

◆ obj_aabb_map

◆ objs

◆ objs_outside_scene_limit

◆ objs_partially_penetrating_scene_limit

◆ scene_limit

template<typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*, detail::SpatialHash>>
class hpp::fcl::SpatialHashingCollisionManager< HashTable >