Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...

#include <broadphase_collision_manager.h>

Inheritance diagram for fcl::BroadPhaseCollisionManager< S >:

[legend]

Public Member Functions
	BroadPhaseCollisionManager ()

virtual void	clear ()=0
	clear the manager More...

virtual void	collide (BroadPhaseCollisionManager other_manager, void cdata, CollisionCallBack< S > callback) const =0
	perform collision test with objects belonging to another manager More...

virtual void	collide (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const =0
	perform collision test between one object and all the objects belonging to the manager More...

virtual void	collide (void *cdata, CollisionCallBack< S > callback) const =0
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

virtual void	distance (BroadPhaseCollisionManager other_manager, void cdata, DistanceCallBack< S > callback) const =0
	perform distance test with objects belonging to another manager More...

virtual void	distance (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback) const =0
	perform distance computation between one object and all the objects belonging to the manager More...

virtual void	distance (void *cdata, DistanceCallBack< S > callback) const =0
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

virtual bool	empty () const =0
	whether the manager is empty More...

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

virtual void	registerObject (CollisionObject< S > *obj)=0
	add one object to the manager More...

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

virtual void	setup ()=0
	initialize the manager, related with the specific type of manager More...

virtual size_t	size () const =0
	the number of objects managed by the manager More...

virtual void	unregisterObject (CollisionObject< S > *obj)=0
	remove one object from the manager More...

virtual void	update ()=0
	update the condition of manager More...

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

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

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
void	insertTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

bool	inTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

Protected Attributes
bool	enable_tested_set_

std::set< std::pair< CollisionObject< S > , CollisionObject< S > > >	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

template<typename S>
class fcl::BroadPhaseCollisionManager< S >

Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.

Definition at line 66 of file broadphase_collision_manager.h.

Constructor & Destructor Documentation

◆ BroadPhaseCollisionManager()

template<typename S >

fcl::BroadPhaseCollisionManager< S >::BroadPhaseCollisionManager

Definition at line 53 of file broadphase_collision_manager-inl.h.

◆ ~BroadPhaseCollisionManager()

template<typename S >

fcl::BroadPhaseCollisionManager< S >::~BroadPhaseCollisionManager

virtual

Definition at line 61 of file broadphase_collision_manager-inl.h.

Member Function Documentation

◆ clear()

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::clear ( )

pure virtual

clear the manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ collide() [1/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::collide	(	BroadPhaseCollisionManager< S > *	other_manager,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

pure virtual

perform collision test with objects belonging to another manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ collide() [2/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::collide	(	CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

pure virtual

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

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ collide() [3/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::collide	(	void *	cdata,
		CollisionCallBack< S >	callback
	)		const

pure virtual

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

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ distance() [1/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::distance	(	BroadPhaseCollisionManager< S > *	other_manager,
		void *	cdata,
		DistanceCallBack< S >	callback
	)		const

pure virtual

perform distance test with objects belonging to another manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ distance() [2/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::distance	(	CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback
	)		const

pure virtual

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

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ distance() [3/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::distance	(	void *	cdata,
		DistanceCallBack< S >	callback
	)		const

pure virtual

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

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ empty()

template<typename S >

virtual bool fcl::BroadPhaseCollisionManager< S >::empty ( ) const

pure virtual

whether the manager is empty

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ getObjects()

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::getObjects ( std::vector< CollisionObject< S > * > & objs ) const

pure virtual

return the objects managed by the manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ insertTestedSet()

template<typename S >

void fcl::BroadPhaseCollisionManager< S >::insertTestedSet	(	CollisionObject< S > *	a,
		CollisionObject< S > *	b
	)		const

protected

Definition at line 105 of file broadphase_collision_manager-inl.h.

◆ inTestedSet()

template<typename S >

bool fcl::BroadPhaseCollisionManager< S >::inTestedSet	(	CollisionObject< S > *	a,
		CollisionObject< S > *	b
	)		const

protected

Definition at line 96 of file broadphase_collision_manager-inl.h.

◆ registerObject()

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::registerObject ( CollisionObject< S > * obj )

pure virtual

add one object to the manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ registerObjects()

template<typename S >

void fcl::BroadPhaseCollisionManager< S >::registerObjects ( const std::vector< CollisionObject< S > * > & other_objs )

virtual

add objects to the manager

Reimplemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SaPCollisionManager< S >, and fcl::NaiveCollisionManager< S >.

Definition at line 68 of file broadphase_collision_manager-inl.h.

◆ setup()

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::setup ( )

pure virtual

initialize the manager, related with the specific type of manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ size()

template<typename S >

virtual size_t fcl::BroadPhaseCollisionManager< S >::size ( ) const

pure virtual

the number of objects managed by the manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ unregisterObject()

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::unregisterObject ( CollisionObject< S > * obj )

pure virtual

remove one object from the manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ update() [1/3]

template<typename S >

virtual void fcl::BroadPhaseCollisionManager< S >::update ( )

pure virtual

update the condition of manager

Implemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, fcl::IntervalTreeCollisionManager< S >, fcl::NaiveCollisionManager< S >, and fcl::SSaPCollisionManager< S >.

◆ update() [2/3]

template<typename S >

void fcl::BroadPhaseCollisionManager< S >::update ( CollisionObject< S > * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, and fcl::IntervalTreeCollisionManager< S >.

Definition at line 77 of file broadphase_collision_manager-inl.h.

◆ update() [3/3]

template<typename S >

void fcl::BroadPhaseCollisionManager< S >::update ( const std::vector< CollisionObject< S > * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented in fcl::DynamicAABBTreeCollisionManager_Array< S >, fcl::DynamicAABBTreeCollisionManager< S >, fcl::SpatialHashingCollisionManager< S, HashTable >, fcl::SaPCollisionManager< S >, and fcl::IntervalTreeCollisionManager< S >.

Definition at line 86 of file broadphase_collision_manager-inl.h.

Member Data Documentation

◆ enable_tested_set_

template<typename S >

bool fcl::BroadPhaseCollisionManager< S >::enable_tested_set_

mutableprotected

Definition at line 128 of file broadphase_collision_manager.h.

◆ tested_set

template<typename S >

std::set<std::pair<CollisionObject<S>*, CollisionObject<S>*> > fcl::BroadPhaseCollisionManager< S >::tested_set

mutableprotected

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.

Definition at line 127 of file broadphase_collision_manager.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename S> class fcl::BroadPhaseCollisionManager< S >

Constructor & Destructor Documentation

◆ BroadPhaseCollisionManager()

◆ ~BroadPhaseCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ empty()

◆ getObjects()

◆ insertTestedSet()

◆ inTestedSet()

◆ registerObject()

◆ registerObjects()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ enable_tested_set_

◆ tested_set

template<typename S>
class fcl::BroadPhaseCollisionManager< S >