Template Struct BroadPhaseManagerBase
Defined in File broadphase-manager-base.hpp
Struct Documentation
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template<typename Derived>
struct BroadPhaseManagerBase Public Functions
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inline BroadPhaseManagerBase()
Default constructor.
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inline BroadPhaseManagerBase(const Model *model_ptr, const GeometryModel *geometry_model_ptr, GeometryData *geometry_data_ptr)
Constructor from a given geometry model and geometry data.
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inline BroadPhaseManagerBase(const BroadPhaseManagerBase &other)
Copy constructor.
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inline BroadPhaseManagerBase &operator=(const BroadPhaseManagerBase &other)
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inline bool check() const
Check whether the base broad phase manager is aligned with the current collision_objects.
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inline bool check(CollisionCallBackBase *callback) const
Check whether the callback is inline with *this.
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inline void update(bool compute_local_aabb = false)
Update the manager from the current geometry positions and update the underlying FCL broad phase manager.
- Parameters:
compute_local_aabb – [in] whether to recompute the local AABB of the collision geometries which have changed.
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inline void update(GeometryData *geom_data_ptr_new)
Update the manager with a new geometry data.
- Parameters:
geom_data_ptr_new – [in] pointer to the new geometry data.
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inline bool collide(CollisionObject &obj, CollisionCallBackBase *callback) const
Performs collision test between one object and all the objects belonging to the manager.
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inline bool collide(CollisionCallBackBase *callback) const
Performs collision test for the objects belonging to the manager.
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inline bool collide(BroadPhaseManagerBase &other_manager, CollisionCallBackBase *callback) const
Performs collision test with objects belonging to another manager.
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inline const Model &getModel() const
Returns the model associated to the manager.
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inline const GeometryModel &getGeometryModel() const
Returns the geometry model associated to the manager.
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inline const GeometryData &getGeometryData() const
Returns the geometry data associated to the manager.
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inline GeometryData &getGeometryData()
Returns the geometry data associated to the manager.
Protected Attributes
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const Model *model_ptr
Pointer to the model.
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const GeometryModel *geometry_model_ptr
Pointer to the geometry model.
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GeometryData *geometry_data_ptr
Pointer to the geometry data.
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inline BroadPhaseManagerBase()