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

#include <list>
#include <vector>
#include "matvec3D.h"
#include "bBox.h"
#include "triangle.h"

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Classes
class	Collision::Branch
	A Branch is a node with two children. More...
class	Collision::CollisionModel
class	Collision::Leaf
	A leaf contains actual geometry, in the form of a list of triangles. More...
class	Collision::Node
	A node in a bounding box hierarchy. More...
Namespaces
namespace	Collision

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Detailed Description

Defines the collison detection hierarchy for a model. This consists of models and their bounding box (bb) hierarchies.

Other than implementing the interface, and thus being the public face of the collision detection system, this file also contains the "broadphase" algorithms, and manages the activation state of the bodies in the system.

Definition in file collisionModel.h.