Simple SAP collision manager. More...

#include <broadphase_SSaP.h>

Inheritance diagram for fcl::SSaPCollisionManager:

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
bool	empty () const
	whether the manager is empty
void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager
void	registerObject (CollisionObject *obj)
	remove one object from 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
	SSaPCollisionManager ()
void	unregisterObject (CollisionObject *obj)
	add one object to the manager
void	update ()
	update the condition of manager
Protected Member Functions
bool	checkColl (std::vector< CollisionObject * >::const_iterator pos_start, std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject obj, void cdata, CollisionCallBack callback) const
	check collision between one object and a list of objects, return value is whether stop is possible
bool	checkDis (std::vector< CollisionObject * >::const_iterator pos_start, std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
	check distance between one object and a list of objects, return value is whether stop is possible
bool	collide_ (CollisionObject obj, void cdata, CollisionCallBack callback) const
bool	distance_ (CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
Static Protected Member Functions
static size_t	selectOptimalAxis (const std::vector< CollisionObject * > &objs_x, const std::vector< CollisionObject * > &objs_y, const std::vector< CollisionObject * > &objs_z, std::vector< CollisionObject * >::const_iterator &it_beg, std::vector< CollisionObject * >::const_iterator &it_end)
Protected Attributes
std::vector< CollisionObject * >	objs_x
	Objects sorted according to lower x value.
std::vector< CollisionObject * >	objs_y
	Objects sorted according to lower y value.
std::vector< CollisionObject * >	objs_z
	Objects sorted according to lower z value.
bool	setup_
	tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

Detailed Description

Simple SAP collision manager.

Definition at line 47 of file broadphase_SSaP.h.

Constructor & Destructor Documentation

fcl::SSaPCollisionManager::SSaPCollisionManager ( ) [inline]

Definition at line 50 of file broadphase_SSaP.h.

Member Function Documentation

bool fcl::SSaPCollisionManager::checkColl	(	std::vector< CollisionObject * >::const_iterator	pos_start,
		std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[protected]`

check collision between one object and a list of objects, return value is whether stop is possible

Definition at line 176 of file broadphase_SSaP.cpp.

bool fcl::SSaPCollisionManager::checkDis	(	std::vector< CollisionObject * >::const_iterator	pos_start,
		std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const `[protected]`

check distance between one object and a list of objects, return value is whether stop is possible

Definition at line 194 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::clear ( ) [virtual]

clear the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 162 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::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 214 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::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 374 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::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 445 of file broadphase_SSaP.cpp.

bool fcl::SSaPCollisionManager::collide_	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const `[protected]`

Definition at line 221 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::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 269 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::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 430 of file broadphase_SSaP.cpp.

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

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 471 of file broadphase_SSaP.cpp.

bool fcl::SSaPCollisionManager::distance_	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const `[protected]`

Definition at line 277 of file broadphase_SSaP.cpp.

bool fcl::SSaPCollisionManager::empty ( ) const [virtual]

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager.

Definition at line 497 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const [virtual]

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 170 of file broadphase_SSaP.cpp.

void fcl::SSaPCollisionManager::registerObject ( CollisionObject * obj ) [virtual]

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager.

Definition at line 137 of file broadphase_SSaP.cpp.

static size_t fcl::SSaPCollisionManager::selectOptimalAxis	(	const std::vector< CollisionObject * > &	objs_x,
		const std::vector< CollisionObject * > &	objs_y,
		const std::vector< CollisionObject * > &	objs_z,
		std::vector< CollisionObject * >::const_iterator &	it_beg,
		std::vector< CollisionObject * >::const_iterator &	it_end
	)		`[inline, static, protected]`