Collision::CollisionCallback Class Reference

#include <collisionAlgorithms.h>

Inheritance diagram for Collision::CollisionCallback:

[legend]

List of all members.

Public Member Functions
	CollisionCallback (const CollisionModel *m1, const CollisionModel *m2)
virtual bool	distanceTest (double d)
bool	isCollision () const
virtual void	leafTest (const Leaf *l1, const Leaf *l2)
void	printStatistics ()
virtual double	quickTest (const Node *n1, const Node *n2)
void	reset ()
Private Attributes
bool	mCollision

---

Detailed Description

Recursion callback for the collision test.

• leaf test - checks collision between leaf triangles
• quick test - boolean check if the bounding boxes overlap
• distance test - if bboxes don't overlap, no need to recurse. Also, if we already have a collision, no point in recursing anywhere; just return.

Definition at line 119 of file collisionAlgorithms.h.

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Constructor & Destructor Documentation

Collision::CollisionCallback::CollisionCallback	(	const CollisionModel *	m1,
		const CollisionModel *	m2
	)			[inline]

Definition at line 124 of file collisionAlgorithms.h.

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Member Function Documentation

virtual bool Collision::CollisionCallback::distanceTest

(

double

d

)

[inline, virtual]

Only recurse if the bboxes overlap, and we don't already have a detected collision.

Implements Collision::RecursionCallback.

Definition at line 135 of file collisionAlgorithms.h.

bool Collision::CollisionCallback::isCollision

(

)

const [inline]

Definition at line 130 of file collisionAlgorithms.h.

void Collision::CollisionCallback::leafTest	(	const Leaf *	l1,
		const Leaf *	l2
	)			[virtual]

Check if triangles collide. If they do, set reply to true

Implements Collision::RecursionCallback.

Definition at line 50 of file collisionAlgorithms_inl.h.

void Collision::CollisionCallback::printStatistics

(

)

[virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 164 of file collisionAlgorithms.cpp.

double Collision::CollisionCallback::quickTest	(	const Node *	n1,
		const Node *	n2
	)			[virtual]

Tests if boxes overlap. Returns -1 if they do, 1 if they don't

Implements Collision::RecursionCallback.

Definition at line 72 of file collisionAlgorithms_inl.h.

void Collision::CollisionCallback::reset

(

)

[inline, virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 126 of file collisionAlgorithms.h.

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Member Data Documentation

bool Collision::CollisionCallback::mCollision [private]

Definition at line 122 of file collisionAlgorithms.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.cpp
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms_inl.h