collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
#include <collision_func_matrix.h>
Public Types | |
| typedef std::size_t(* | CollisionFunc )(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
| the uniform call interface for collision: for collision, we need know 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2; 2. the solver for narrow phase collision, this is for the collision between geometric shapes; 3. the request setting for collision (e.g., whether need to return normal information, whether need to compute cost); 4. the structure to return collision result | |
Public Member Functions | |
| CollisionFunctionMatrix () | |
Public Attributes | |
| CollisionFunc | collision_matrix [NODE_COUNT][NODE_COUNT] |
| each item in the collision matrix is a function to handle collision between objects of type1 and type2 | |
collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
Definition at line 50 of file collision_func_matrix.h.
| typedef std::size_t(* fcl::CollisionFunctionMatrix< NarrowPhaseSolver >::CollisionFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
the uniform call interface for collision: for collision, we need know 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2; 2. the solver for narrow phase collision, this is for the collision between geometric shapes; 3. the request setting for collision (e.g., whether need to return normal information, whether need to compute cost); 4. the structure to return collision result
Definition at line 57 of file collision_func_matrix.h.
| fcl::CollisionFunctionMatrix< NarrowPhaseSolver >::CollisionFunctionMatrix | ( | ) |
Definition at line 434 of file collision_func_matrix.cpp.
| CollisionFunc fcl::CollisionFunctionMatrix< NarrowPhaseSolver >::collision_matrix[NODE_COUNT][NODE_COUNT] |
each item in the collision matrix is a function to handle collision between objects of type1 and type2
Definition at line 60 of file collision_func_matrix.h.
