/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.h File Reference

#include <vector>
#include "mytools.h"
#include "collisionStructures.h"

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Classes
class	Collision::ClosestPtCallback
class	Collision::CollisionCallback
class	Collision::ContactCallback
class	Collision::DistanceCallback
class	Collision::RecursionCallback
class	Collision::RegionCallback
Namespaces
namespace	Collision
Functions
void	Collision::startRecursion (const CollisionModel *model1, const CollisionModel *model2, RecursionCallback *rc)
	The entry point to the one and only recursion mechanism.

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Detailed Description

Contains the actual collision detection mechanisms. This file implements the recursive calls and algorithms; most of the primitive interesection and geometry routines are in the BoundingBox and Triangle classes and files.

There are 5 types of collision queries:

• collision - answers whether two bodies are interpenetrating or not. If they are, we don't care where exactly.
• contact - returns all the points where two bodies are separated by less than a contact threshold.
• distance - computes the distance between two bodies and also returns the points on the bodies which are closest to each other. If the bodies are colliding it returns -1.
• closest point - computes the distance between a point and a body
• region - returns all the points on a body which are within a given threshold of a reference point.

All collision detection tests are implemented as recursive calls, using the same recursion mechanism. The recursion is adapted to each type of query using a recursionCallback, which must implement three tests. At each iteration, the recursion will be called on two nodes. It will call the following tests from its instance of the recursionCallback:

• if both are leaves, it will call the leafTest and return
• if not, we must decide which branch we split at this recursion, and in which order we recurse on its children. For now, we always split the branch whith larger bbox volume. Then we must decide if, and in which order, we process its children.
• the quickTest computes a measure of how much we want to recurse on a particular child. Intuitively, is a child is far from the other node, we are less inclined to recurse on it.
• the distanceTest takes in the result of the quickTest and decides if we actually want to recurse on a particular child at all. See implementations of the recursion function and the recursionCallback interface for details.

Definition in file collisionAlgorithms.h.