GraspitCollision Class Reference

#include <graspitCollision.h>

Inheritance diagram for GraspitCollision:

Public Member Functions
virtual void	activateBody (const Body *, bool)
	Activates / deactivates a body inside the collision detection system.
virtual void	activatePair (const Body , const Body , bool)
	Toggles collision between a particular pair of bodies.
virtual bool	addBody (Body *body, bool ExpectEmpty=false)
	Add a new body to the collision detection system.
virtual int	allCollisions (DetectionType type, CollisionReport report, const std::vector< Body > *interestList)
virtual int	allContacts (CollisionReport report, double threshold, const std::vector< Body > *interestList)
virtual void	bodyRegion (const Body body, position point, vec3 normal, double radius, Neighborhood neighborhood)
virtual double	bodyToBodyDistance (const Body body1, const Body body2, position &p1, position &p2)
virtual void	cloneBody (Body , const Body )
virtual int	contact (ContactReport report, double threshold, const Body body1, const Body *body2)
virtual void	getBoundingVolumes (const Body , int, std::vector< BoundingBox > )
	Returns the bounding box hierarchy at a certin depth for a body.
virtual int	getThread ()
	GraspitCollision ()
virtual bool	isActive (const Body , const Body )
	Tells us if collisions for a body in general, or a particular pair of bodies, are active.
virtual void	newThread ()
virtual double	pointToBodyDistance (const Body *body1, position point, position &closestPoint, vec3 &closestNormal)
virtual void	removeBody (Body *body)
	Remove a body from the collision detection system.
virtual void	setBodyTransform (Body *body, const transf &t)
	Set the position of a body in the collision detection system.
virtual	~GraspitCollision ()
Private Types
typedef std::pair< const CollisionModel , const CollisionModel >	CollisionPair
typedef std::multimap< const CollisionModel , const CollisionModel >::iterator	DisabledIterator
Private Member Functions
void	convertInterestList (const std::vector< Body * > inList, std::set< CollisionModel > *outSet)
void	getActivePairs (std::list< CollisionPair > activePairs, const std::set< CollisionModel > *interestList)
	Returns all the pairs of bodies that collision should be cheked for.
Body *	getBody (const CollisionModel *model)
CollisionModel *	getModel (const Body *body)
Private Attributes
std::map< const CollisionModel , Body >	mBodyMap
	Maps internal collision model pointers to GraspIt Body pointers.
std::multimap< const CollisionModel , const CollisionModel >	mDisabledMap
	Stores all the disabled pairs of bodies.
std::map< const Body , CollisionModel >	mModelMap
	Maps GraspIt Body pointers to internal collision model pointers.
std::vector< CollisionModel * >	mModels
	Stores the pointers to collision models sorted in ascending order of pointer comparisons.

Detailed Description

Definition at line 46 of file graspitCollision.h.

Member Typedef Documentation

typedef std::pair<const CollisionModel*, const CollisionModel*> GraspitCollision::CollisionPair [private]

Definition at line 70 of file graspitCollision.h.

typedef std::multimap<const CollisionModel*, const CollisionModel*>::iterator GraspitCollision::DisabledIterator [private]

Definition at line 62 of file graspitCollision.h.

Constructor & Destructor Documentation

GraspitCollision::GraspitCollision ( ) [inline]

Definition at line 78 of file graspitCollision.h.

virtual GraspitCollision::~GraspitCollision ( ) [inline, virtual]

Definition at line 79 of file graspitCollision.h.

Member Function Documentation

void GraspitCollision::activateBody	(	const Body *	body,
		bool	active
	)			`[virtual]`

Activates / deactivates a body inside the collision detection system.

If a body is deactivated, it is not removed from the system, but it stops producing either collisions or contacts. Can be re-activated any time desired, it is very cheap.

Implements CollisionInterface.

Definition at line 103 of file graspitCollision.cpp.

void GraspitCollision::activatePair	(	const Body *	body1,
		const Body *	body2,
		bool	active
	)			`[virtual]`

Toggles collision between a particular pair of bodies.

Implements CollisionInterface.

Definition at line 114 of file graspitCollision.cpp.

bool GraspitCollision::addBody	(	Body *	body,
		bool	ExpectEmpty = `false`
	)			`[virtual]`

Add a new body to the collision detection system.

Implements CollisionInterface.

Definition at line 183 of file graspitCollision.cpp.

int GraspitCollision::allCollisions	(	DetectionType	type,
		CollisionReport *	report,
		const std::vector< Body * > *	interestList
	)			`[virtual]`

Goes through all the bodies in the world and returns collisions. If type is FAST_COLLISION, returns 1 as soon as any collision is found. If type is ALL_COLLISIONS, returns the total number of collisions in the world.

The list of all colliding bodies is placed in the report.

If an is passed, then it only queries for collisions involving at least one body in the list.

Implements CollisionInterface.

Definition at line 291 of file graspitCollision.cpp.

int GraspitCollision::allContacts	(	CollisionReport *	report,
		double	threshold,
		const std::vector< Body * > *	interestList
	)			`[virtual]`

Finds all the contacts in the world. interestList is used the same way as in allCollisions().

Implements CollisionInterface.

Definition at line 324 of file graspitCollision.cpp.

void GraspitCollision::bodyRegion	(	const Body *	body,
		position	point,
		vec3	normal,
		double	radius,
		Neighborhood *	neighborhood
	)			`[virtual]`

Finds the neighborhood of a given point on the surface of a body. Given the point point, it will find all the vertices of the body that are with radius of this point, as long as they belong to triangles that do not have normals pointing in the opposite direction. This is done in order not to return vertices that are on the other side of a thin body.

Assumes both point and normal are in the coordinate frame of body

Implements CollisionInterface.

Definition at line 438 of file graspitCollision.cpp.

double GraspitCollision::bodyToBodyDistance	(	const Body *	body1,
		const Body *	body2,
		position &	p1,
		position &	p2
	)			`[virtual]`

Distance between two bodies, or -1 if the bodies interpenetrate. On exit, p1 and p2 are the two points on the bodies that are closest to each other, each in its own body coordinate frame

Implements CollisionInterface.

Definition at line 417 of file graspitCollision.cpp.

void GraspitCollision::cloneBody	(	Body *	clone,
		const Body *	original
	)			`[virtual]`

Creates a clone of a body that shares the collision geometry hierarchy but has its own transform and can be moved and queried for collision independently. WARNING: there are still problems with the cloning mechanism. If the original is deleted, ot if its collision structures are changed, the lingering clone is almost certain to cause a crash.

Implements CollisionInterface.

Definition at line 241 of file graspitCollision.cpp.

int GraspitCollision::contact	(	ContactReport *	report,
		double	threshold,
		const Body *	body1,
		const Body *	body2
	)			`[virtual]`

Finds the contacts between two specified bodies

Implements CollisionInterface.

Definition at line 366 of file graspitCollision.cpp.

void GraspitCollision::convertInterestList	(	const std::vector< Body * > *	inList,
		std::set< CollisionModel * > *	outSet
	)			`[private]`

Definition at line 277 of file graspitCollision.cpp.

void GraspitCollision::getActivePairs	(	std::list< CollisionPair > *	activePairs,
		const std::set< CollisionModel * > *	interestList
	)			`[private]`

Returns all the pairs of bodies that collision should be cheked for.

A pair of bodies is active iff:

none of the bodies is disabled
collision between this specific pair of bodies is not disabled
when interestList is not NULL, if at least one of the bodies is in the interestList.
at least one of the bodies has the same thread ID as the current thread, and the other body has either the same thread ID, or thread ID 0 (master thread). In other words, bodies from a given thread only collide with bodies from the same thread, or from the master thread (ID 0).

Definition at line 56 of file graspitCollision.cpp.

Body * GraspitCollision::getBody ( const CollisionModel * model ) [inline, private]

Definition at line 121 of file graspitCollision.h.

void GraspitCollision::getBoundingVolumes	(	const Body *	,
		int	,
		std::vector< BoundingBox > *
	)			`[virtual]`

Returns the bounding box hierarchy at a certin depth for a body.

Reimplemented from CollisionInterface.

Definition at line 458 of file graspitCollision.cpp.

CollisionModel * GraspitCollision::getModel ( const Body * body ) [inline, private]

Definition at line 129 of file graspitCollision.h.

virtual int GraspitCollision::getThread ( ) [inline, virtual]

Definition at line 117 of file graspitCollision.h.

bool GraspitCollision::isActive	(	const Body *	body1,
		const Body *	body2
	)			`[virtual]`

Tells us if collisions for a body in general, or a particular pair of bodies, are active.

If body2 is NULL, it returns whether body1 is active in the collision detection system. Otherwise, it returns whether collisions between this particular pair of bodies are active.

Implements CollisionInterface.

Definition at line 141 of file graspitCollision.cpp.

virtual void GraspitCollision::newThread ( ) [inline, virtual]

Informs the collision detection system that this is now a new thread. All bodies or clones added from now on are specific to this thread. Bodies from a given thread can collide ONLY with bodies from the same thread, or with bodies from the master thread, which has ID 0.

Reimplemented from CollisionInterface.

Definition at line 116 of file graspitCollision.h.

double GraspitCollision::pointToBodyDistance	(	const Body *	body1,
		position	point,
		position &	closestPoint,
		vec3 &	closestNormal
	)			`[virtual]`

Distance from a point point specified in world coordinates to a body. On exit, closestPoint is the point on the body that is closest to the given point, and closestNormal is the body normal at that point. Both closestPoint and closestNormal are in world coordinates

Implements CollisionInterface.

Definition at line 394 of file graspitCollision.cpp.

void GraspitCollision::removeBody ( Body * body ) [virtual]

Remove a body from the collision detection system.

Implements CollisionInterface.

Definition at line 217 of file graspitCollision.cpp.

void GraspitCollision::setBodyTransform	(	Body *	body,
		const transf &	t
	)			`[virtual]`

Set the position of a body in the collision detection system.

Implements CollisionInterface.

Definition at line 266 of file graspitCollision.cpp.

Member Data Documentation

std::map<const CollisionModel*, Body*> GraspitCollision::mBodyMap [private]

Maps internal collision model pointers to GraspIt Body pointers.

Definition at line 56 of file graspitCollision.h.

std::multimap<const CollisionModel*, const CollisionModel*> GraspitCollision::mDisabledMap [private]

Stores all the disabled pairs of bodies.

When inserting a new pair in here, always make sure that the *key* pointer and the value pointer compare such that key < value. This allows us to know, for any two pointers, which is supposed to be the key for indexing here. It also allows for more efficient traversal of the complete list of bodies

Definition at line 68 of file graspitCollision.h.

std::map<const Body*, CollisionModel*> GraspitCollision::mModelMap [private]

Maps GraspIt Body pointers to internal collision model pointers.

Definition at line 54 of file graspitCollision.h.

std::vector<CollisionModel*> GraspitCollision::mModels [private]

Stores the pointers to collision models sorted in ascending order of pointer comparisons.

Definition at line 51 of file graspitCollision.h.

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

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/graspitCollision.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/graspitCollision.cpp

GraspitCollision Class Reference

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation