#include <ColdetModelPair.h>
Classes | |
struct | figStruct |
struct | pointStruct |
Public Member Functions | |
int | calculateCentroidIntersection (float &cx, float &cy, float &A, float radius, std::vector< float > vx, std::vector< float > vy) |
int | calculateIntersection (std::vector< float > &x, std::vector< float > &y, float radius, float x1, float y1, float x2, float y2) |
float | calculatePolygonArea (const std::vector< float > &vx, const std::vector< float > &vy) |
void | calculateSectorCentroid (float &cx, float &cy, float radius, float th1, float th2) |
bool | checkCollision () |
void | clearCollisions () |
ColdetModelPair () | |
ColdetModelPair (ColdetModelPtr model0, ColdetModelPtr model1, double tolerance=0) | |
ColdetModelPair (const ColdetModelPair &org) | |
std::vector< collision_data > & | collisions () |
double | computeDistance (double *point0, double *point1) |
double | computeDistance (int &out_triangle0, double *out_point0, int &out_triangle1, double *out_point1) |
std::vector< collision_data > & | detectCollisions () |
bool | detectIntersection () |
bool | isInsideCircle (float r, float x, float y) |
bool | isInsideTriangle (float x, float y, const std::vector< float > &vx, const std::vector< float > &vy) |
int | makeCCW (std::vector< float > &vx, std::vector< float > &vy) |
ColdetModel * | model (int index) |
void | set (ColdetModelPtr model0, ColdetModelPtr model1) |
void | setCollisionPairInserter (CollisionPairInserterBase *inserter) |
double | tolerance () const |
IceMaths::Matrix4x4 * | transform (int index) |
virtual | ~ColdetModelPair () |
Private Types | |
enum | figType { tri, sector } |
enum | pointType { vertex, inter } |
Private Member Functions | |
std::vector< collision_data > & | detectCollisionsSub (bool detectAllContacts) |
bool | detectMeshMeshCollisions (bool detectAllContacts) |
bool | detectPlaneCylinderCollisions (bool detectAllContacts) |
bool | detectPlaneMeshCollisions (bool detectAllContacts) |
bool | detectSphereMeshCollisions (bool detectAllContacts) |
bool | detectSphereSphereCollisions (bool detectAllContacts) |
Private Attributes | |
int | boxTestsCount |
CollisionPairInserterBase * | collisionPairInserter |
ColdetModelPtr | models [2] |
double | tolerance_ |
int | triTestsCount |
Definition at line 29 of file ColdetModelPair.h.
enum hrp::ColdetModelPair::figType [private] |
Definition at line 104 of file ColdetModelPair.h.
enum hrp::ColdetModelPair::pointType [private] |
Definition at line 103 of file ColdetModelPair.h.
Definition at line 25 of file ColdetModelPair.cpp.
ColdetModelPair::ColdetModelPair | ( | ColdetModelPtr | model0, |
ColdetModelPtr | model1, | ||
double | tolerance = 0 |
||
) |
Definition at line 31 of file ColdetModelPair.cpp.
Definition at line 40 of file ColdetModelPair.cpp.
ColdetModelPair::~ColdetModelPair | ( | ) | [virtual] |
Definition at line 48 of file ColdetModelPair.cpp.
int ColdetModelPair::calculateCentroidIntersection | ( | float & | cx, |
float & | cy, | ||
float & | A, | ||
float | radius, | ||
std::vector< float > | vx, | ||
std::vector< float > | vy | ||
) |
Definition at line 652 of file ColdetModelPair.cpp.
int ColdetModelPair::calculateIntersection | ( | std::vector< float > & | x, |
std::vector< float > & | y, | ||
float | radius, | ||
float | x1, | ||
float | y1, | ||
float | x2, | ||
float | y2 | ||
) |
Definition at line 896 of file ColdetModelPair.cpp.
float ColdetModelPair::calculatePolygonArea | ( | const std::vector< float > & | vx, |
const std::vector< float > & | vy | ||
) |
Definition at line 834 of file ColdetModelPair.cpp.
void ColdetModelPair::calculateSectorCentroid | ( | float & | cx, |
float & | cy, | ||
float | radius, | ||
float | th1, | ||
float | th2 | ||
) |
Definition at line 853 of file ColdetModelPair.cpp.
bool hrp::ColdetModelPair::checkCollision | ( | ) | [inline] |
Definition at line 55 of file ColdetModelPair.h.
void hrp::ColdetModelPair::clearCollisions | ( | ) | [inline] |
Definition at line 51 of file ColdetModelPair.h.
std::vector<collision_data>& hrp::ColdetModelPair::collisions | ( | ) | [inline] |
Definition at line 47 of file ColdetModelPair.h.
double ColdetModelPair::computeDistance | ( | double * | point0, |
double * | point1 | ||
) |
Definition at line 568 of file ColdetModelPair.cpp.
double ColdetModelPair::computeDistance | ( | int & | out_triangle0, |
double * | out_point0, | ||
int & | out_triangle1, | ||
double * | out_point1 | ||
) |
out_triangle0,out_triangle1 | Indices of the triangle pair that are originally registered by ColdeModel::setTraiangle(). |
out_point0,out_point1 | The closest points |
Definition at line 595 of file ColdetModelPair.cpp.
std::vector<collision_data>& hrp::ColdetModelPair::detectCollisions | ( | ) | [inline] |
Definition at line 43 of file ColdetModelPair.h.
std::vector< collision_data > & ColdetModelPair::detectCollisionsSub | ( | bool | detectAllContacts | ) | [private] |
Definition at line 65 of file ColdetModelPair.cpp.
bool ColdetModelPair::detectIntersection | ( | ) |
Definition at line 625 of file ColdetModelPair.cpp.
bool ColdetModelPair::detectMeshMeshCollisions | ( | bool | detectAllContacts | ) | [private] |
Definition at line 154 of file ColdetModelPair.cpp.
bool ColdetModelPair::detectPlaneCylinderCollisions | ( | bool | detectAllContacts | ) | [private] |
Definition at line 457 of file ColdetModelPair.cpp.
bool ColdetModelPair::detectPlaneMeshCollisions | ( | bool | detectAllContacts | ) | [private] |
Definition at line 100 of file ColdetModelPair.cpp.
bool ColdetModelPair::detectSphereMeshCollisions | ( | bool | detectAllContacts | ) | [private] |
Definition at line 249 of file ColdetModelPair.cpp.
bool ColdetModelPair::detectSphereSphereCollisions | ( | bool | detectAllContacts | ) | [private] |
Definition at line 191 of file ColdetModelPair.cpp.
bool hrp::ColdetModelPair::isInsideCircle | ( | float | r, |
float | x, | ||
float | y | ||
) | [inline] |
Definition at line 80 of file ColdetModelPair.h.
bool ColdetModelPair::isInsideTriangle | ( | float | x, |
float | y, | ||
const std::vector< float > & | vx, | ||
const std::vector< float > & | vy | ||
) |
Definition at line 871 of file ColdetModelPair.cpp.
int ColdetModelPair::makeCCW | ( | std::vector< float > & | vx, |
std::vector< float > & | vy | ||
) |
Definition at line 819 of file ColdetModelPair.cpp.
ColdetModel* hrp::ColdetModelPair::model | ( | int | index | ) | [inline] |
Definition at line 40 of file ColdetModelPair.h.
void ColdetModelPair::set | ( | ColdetModelPtr | model0, |
ColdetModelPtr | model1 | ||
) |
Definition at line 54 of file ColdetModelPair.cpp.
Definition at line 643 of file ColdetModelPair.cpp.
double hrp::ColdetModelPair::tolerance | ( | ) | const [inline] |
Definition at line 69 of file ColdetModelPair.h.
IceMaths::Matrix4x4* hrp::ColdetModelPair::transform | ( | int | index | ) | [inline] |
Definition at line 41 of file ColdetModelPair.h.
int hrp::ColdetModelPair::boxTestsCount [private] |
Definition at line 100 of file ColdetModelPair.h.
Definition at line 98 of file ColdetModelPair.h.
ColdetModelPtr hrp::ColdetModelPair::models[2] [private] |
Definition at line 95 of file ColdetModelPair.h.
double hrp::ColdetModelPair::tolerance_ [private] |
Definition at line 96 of file ColdetModelPair.h.
int hrp::ColdetModelPair::triTestsCount [private] |
Definition at line 101 of file ColdetModelPair.h.