#include <broadphase_dynamic_AABB_tree.h>

Inheritance diagram for fcl::DynamicAABBTreeCollisionManager:

Public Types
typedef NodeBase< AABB >	DynamicAABBNode
typedef boost::unordered_map < CollisionObject , DynamicAABBNode >	DynamicAABBTable
Public Member Functions
void	clear ()
	clear the manager
void	collide (CollisionObject obj, void cdata, CollisionCallBack callback) const
	perform collision test between one object and all the objects belonging to the manager
void	collide (void *cdata, CollisionCallBack callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void	collide (BroadPhaseCollisionManager other_manager_, void cdata, CollisionCallBack callback) const
	perform collision test with objects belonging to another manager
void	distance (CollisionObject obj, void cdata, DistanceCallBack callback) const
	perform distance computation between one object and all the objects belonging to the manager
void	distance (void *cdata, DistanceCallBack callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void	distance (BroadPhaseCollisionManager other_manager_, void cdata, DistanceCallBack callback) const
	perform distance test with objects belonging to another manager
	DynamicAABBTreeCollisionManager ()
bool	empty () const
	whether the manager is empty
void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager
const HierarchyTree< AABB > &	getTree () const
void	registerObject (CollisionObject *obj)
	add one object to the manager
void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager
void	setup ()
	initialize the manager, related with the specific type of manager
size_t	size () const
	the number of objects managed by the manager
void	unregisterObject (CollisionObject *obj)
	remove one object from the manager
void	update ()
	update the condition of manager
void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated
void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update
Public Attributes
int	max_tree_nonbalanced_level
bool	octree_as_geometry_collide
bool	octree_as_geometry_distance
int	tree_incremental_balance_pass
int	tree_init_level
int &	tree_topdown_balance_threshold
int &	tree_topdown_level
Private Member Functions
void	update_ (CollisionObject *updated_obj)
Private Attributes
HierarchyTree< AABB >	dtree
bool	setup_
boost::unordered_map < CollisionObject , DynamicAABBNode >	table

Detailed Description

Definition at line 53 of file broadphase_dynamic_AABB_tree.h.

Member Typedef Documentation

typedef NodeBase<AABB> fcl::DynamicAABBTreeCollisionManager::DynamicAABBNode

Definition at line 56 of file broadphase_dynamic_AABB_tree.h.

typedef boost::unordered_map<CollisionObject*, DynamicAABBNode*> fcl::DynamicAABBTreeCollisionManager::DynamicAABBTable

Definition at line 57 of file broadphase_dynamic_AABB_tree.h.

Constructor & Destructor Documentation

fcl::DynamicAABBTreeCollisionManager::DynamicAABBTreeCollisionManager ( ) [inline]

Definition at line 69 of file broadphase_dynamic_AABB_tree.h.

Member Function Documentation

void fcl::DynamicAABBTreeCollisionManager::clear ( ) [inline, virtual]

clear the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 106 of file broadphase_dynamic_AABB_tree.h.

void fcl::DynamicAABBTreeCollisionManager::collide	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 739 of file broadphase_dynamic_AABB_tree.cpp.

void fcl::DynamicAABBTreeCollisionManager::collide	(	void *	cdata,
		CollisionCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 787 of file broadphase_dynamic_AABB_tree.cpp.

void fcl::DynamicAABBTreeCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager_,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[virtual]`

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 800 of file broadphase_dynamic_AABB_tree.cpp.

void fcl::DynamicAABBTreeCollisionManager::distance	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 762 of file broadphase_dynamic_AABB_tree.cpp.

void fcl::DynamicAABBTreeCollisionManager::distance	(	void *	cdata,
		DistanceCallBack	callback
	)		const `[virtual]`

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

Implements fcl::BroadPhaseCollisionManager.

Definition at line 793 of file broadphase_dynamic_AABB_tree.cpp.

void fcl::DynamicAABBTreeCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager_,
		void *	cdata,
		DistanceCallBack	callback
	)		const `[virtual]`