broadphase_bruteforce.h
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35 
38 #ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
39 #define FCL_BROAD_PHASE_BRUTE_FORCE_H
40 
41 #include <list>
43 
44 namespace fcl
45 {
46 
48 template <typename S>
50 {
51 public:
53 
55  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
56 
58  void registerObject(CollisionObject<S>* obj);
59 
61  void unregisterObject(CollisionObject<S>* obj);
62 
64  void setup();
65 
67  void update();
68 
70  void clear();
71 
73  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
74 
76  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
77 
79  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
80 
82  void collide(void* cdata, CollisionCallBack<S> callback) const;
83 
85  void distance(void* cdata, DistanceCallBack<S> callback) const;
86 
88  void collide(BroadPhaseCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const;
89 
91  void distance(BroadPhaseCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const;
92 
94  bool empty() const;
95 
97  size_t size() const;
98 
99 protected:
100 
102  std::list<CollisionObject<S>*> objs;
103 };
104 
107 
108 } // namespace fcl
109 
111 
112 #endif
fcl::NaiveCollisionManager
Brute force N-body collision manager.
Definition: broadphase_bruteforce.h:49
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
broadphase_bruteforce-inl.h
broadphase_collision_manager.h
obj
CollisionObject< S > * obj
object
Definition: broadphase_SaP.h:164
fcl::DistanceCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata, S &dist) DistanceCallBack
Callback for distance between two objects, Return value is whether can stop now, also return the mini...
Definition: broadphase_collision_manager.h:60
fcl::CollisionCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now.
Definition: broadphase_collision_manager.h:53
fcl::collide
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::NaiveCollisionManager::objs
std::list< CollisionObject< S > * > objs
objects belonging to the manager are stored in a list structure
Definition: broadphase_bruteforce.h:102
fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:51
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::BroadPhaseCollisionManager
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66


fcl
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autogenerated on Tue Jun 22 2021 07:27:49