broadphase_spatialhash.h
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35 
38 #ifndef FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
39 #define FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
40 
41 #include <list>
42 #include <map>
43 #include "fcl/math/bv/AABB.h"
48 
49 namespace fcl
50 {
51 
53 template<typename S,
54  typename HashTable
55  = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >
57 {
58 public:
60  S cell_size,
61  const Vector3<S>& scene_min,
62  const Vector3<S>& scene_max,
63  unsigned int default_table_size = 1000);
64 
66 
68  void registerObject(CollisionObject<S>* obj);
69 
71  void unregisterObject(CollisionObject<S>* obj);
72 
74  void setup();
75 
77  void update();
78 
80  void update(CollisionObject<S>* updated_obj);
81 
83  void update(const std::vector<CollisionObject<S>*>& updated_objs);
84 
86  void clear();
87 
89  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
90 
92  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
93 
95  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
96 
98  void collide(void* cdata, CollisionCallBack<S> callback) const;
99 
101  void distance(void* cdata, DistanceCallBack<S> callback) const;
102 
104  void collide(BroadPhaseCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const;
105 
107  void distance(BroadPhaseCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const;
108 
110  bool empty() const;
111 
113  size_t size() const;
114 
116  static void computeBound(std::vector<CollisionObject<S>*>& objs, Vector3<S>& l, Vector3<S>& u);
117 
118 protected:
119 
121  bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
122 
124  bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
125 
127  std::list<CollisionObject<S>*> objs;
128 
131  std::list<CollisionObject<S>*> objs_partially_penetrating_scene_limit;
132 
134  std::list<CollisionObject<S>*> objs_outside_scene_limit;
135 
138 
140  std::map<CollisionObject<S>*, AABB<S>> obj_aabb_map;
141 
143  HashTable* hash_table;
144 
145 private:
146 
148  {
151  Outside
152  };
153 
154  template <typename Container>
155  bool distanceObjectToObjects(
157  const Container& objs,
158  void* cdata,
159  DistanceCallBack<S> callback,
160  S& min_dist) const;
161 
162 };
163 
164 template<typename HashTable = detail::SimpleHashTable<AABB<float>, CollisionObject<float>*, detail::SpatialHash<float>>>
166 
167 template<typename HashTable = detail::SimpleHashTable<AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>
169 
170 } // namespace fcl
171 
173 
174 #endif
spatial_hash.h
fcl::SpatialHashingCollisionManager::scene_limit
AABB< S > scene_limit
the size of the scene
Definition: broadphase_spatialhash.h:137
fcl::SpatialHashingCollisionManager::objs_outside_scene_limit
std::list< CollisionObject< S > * > objs_outside_scene_limit
objects outside the scene limit are in another list
Definition: broadphase_spatialhash.h:134
fcl::SpatialHashingCollisionManager::Inside
@ Inside
Definition: broadphase_spatialhash.h:149
fcl::SpatialHashingCollisionManager::objs_partially_penetrating_scene_limit
std::list< CollisionObject< S > * > objs_partially_penetrating_scene_limit
objects partially penetrating (not totally inside nor outside) the scene limit are in another list
Definition: broadphase_spatialhash.h:131
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
sparse_hash_table.h
simple_hash_table.h
broadphase_collision_manager.h
fcl::SpatialHashingCollisionManager::PartiallyPenetrating
@ PartiallyPenetrating
Definition: broadphase_spatialhash.h:150
fcl::AABB< S >
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::SpatialHashingCollisionManager::hash_table
HashTable * hash_table
objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table
Definition: broadphase_spatialhash.h:143
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
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::SpatialHashingCollisionManager
spatial hashing collision mananger
Definition: broadphase_spatialhash.h:56
fcl::SpatialHashingCollisionManager::obj_aabb_map
std::map< CollisionObject< S > *, AABB< S > > obj_aabb_map
store the map between objects and their aabbs. will make update more convenient
Definition: broadphase_spatialhash.h:140
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::SpatialHashingCollisionManager::objs
std::list< CollisionObject< S > * > objs
all objects in the scene
Definition: broadphase_spatialhash.h:127
AABB.h
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::SpatialHashingCollisionManager::ObjectStatus
ObjectStatus
Definition: broadphase_spatialhash.h:147
broadphase_spatialhash-inl.h
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