Simple SAP collision manager. More...

#include <broadphase_SSaP.h>

Inheritance diagram for fcl::SSaPCollisionManager< S >:

Public Member Functions
void	clear ()
	clear the manager More...

void	collide (BroadPhaseCollisionManager< S > other_manager, void cdata, CollisionCallBack< S > callback) const
	perform collision test with objects belonging to another manager More...

void	collide (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	collide (void *cdata, CollisionCallBack< S > callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	distance (BroadPhaseCollisionManager< S > other_manager, void cdata, DistanceCallBack< S > callback) const
	perform distance test with objects belonging to another manager More...

void	distance (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	distance (void *cdata, DistanceCallBack< S > callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

bool	empty () const
	whether the manager is empty More...

void	getObjects (std::vector< CollisionObject< S > * > &objs) const
	return the objects managed by the manager More...

void	registerObject (CollisionObject< S > *obj)
	remove one object from the manager More...

void	setup ()
	initialize the manager, related with the specific type of manager More...

size_t	size () const
	the number of objects managed by the manager More...

	SSaPCollisionManager ()

void	unregisterObject (CollisionObject< S > *obj)
	add one object to the manager More...

void	update ()
	update the condition of manager More...

Public Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
	BroadPhaseCollisionManager ()

virtual void	registerObjects (const std::vector< CollisionObject< S > * > &other_objs)
	add objects to the manager More...

virtual void	update (CollisionObject< S > *updated_obj)
	update the manager by explicitly given the object updated More...

virtual void	update (const std::vector< CollisionObject< S > * > &updated_objs)
	update the manager by explicitly given the set of objects update More...

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
bool	checkColl (typename std::vector< CollisionObject< S > * >::const_iterator pos_start, typename std::vector< CollisionObject< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const
	check collision between one object and a list of objects, return value is whether stop is possible More...

bool	checkDis (typename std::vector< CollisionObject< S > * >::const_iterator pos_start, typename std::vector< CollisionObject< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const
	check distance between one object and a list of objects, return value is whether stop is possible More...

bool	collide_ (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const

bool	distance_ (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const

Protected Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
void	insertTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

bool	inTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

Static Protected Member Functions
static size_t	selectOptimalAxis (const std::vector< CollisionObject< S > * > &objs_x, const std::vector< CollisionObject< S > * > &objs_y, const std::vector< CollisionObject< S > * > &objs_z, typename std::vector< CollisionObject< S > * >::const_iterator &it_beg, typename std::vector< CollisionObject< S > * >::const_iterator &it_end)

Protected Attributes
std::vector< CollisionObject< S > * >	objs_x
	Objects sorted according to lower x value. More...

std::vector< CollisionObject< S > * >	objs_y
	Objects sorted according to lower y value. More...

std::vector< CollisionObject< S > * >	objs_z
	Objects sorted according to lower z value. More...

bool	setup_
	tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly More...

Protected Attributes inherited from fcl::BroadPhaseCollisionManager< S >
bool	enable_tested_set_

std::set< std::pair< CollisionObject< S > , CollisionObject< S > > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

Detailed Description

template<typename S>
class fcl::SSaPCollisionManager< S >

Simple SAP collision manager.

Definition at line 49 of file broadphase_SSaP.h.

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

template<typename S >

fcl::SSaPCollisionManager< S >::SSaPCollisionManager

Definition at line 149 of file broadphase_SSaP-inl.h.

Member Function Documentation

◆ checkColl()

template<typename S >

bool fcl::SSaPCollisionManager< S >::checkColl	(	typename std::vector< CollisionObject< S > * >::const_iterator	pos_start,
		typename std::vector< CollisionObject< S > * >::const_iterator	pos_end,
		CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

protected

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

Definition at line 205 of file broadphase_SSaP-inl.h.

◆ checkDis()

template<typename S >

bool fcl::SSaPCollisionManager< S >::checkDis	(	typename std::vector< CollisionObject< S > * >::const_iterator	pos_start,
		typename std::vector< CollisionObject< S > * >::const_iterator	pos_end,
		CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback,
		S &	min_dist
	)		const

protected

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

Definition at line 225 of file broadphase_SSaP-inl.h.

◆ clear()

template<typename S >

void fcl::SSaPCollisionManager< S >::clear

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 187 of file broadphase_SSaP-inl.h.

◆ collide() [1/3]

template<typename S >

void fcl::SSaPCollisionManager< S >::collide	(	BroadPhaseCollisionManager< S > *	other_manager,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 525 of file broadphase_SSaP-inl.h.

◆ collide() [2/3]

template<typename S >

void fcl::SSaPCollisionManager< S >::collide	(	CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 245 of file broadphase_SSaP-inl.h.

◆ collide() [3/3]

template<typename S >

void fcl::SSaPCollisionManager< S >::collide	(	void *	cdata,
		CollisionCallBack< S >	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 451 of file broadphase_SSaP-inl.h.

◆ collide_()

template<typename S >

bool fcl::SSaPCollisionManager< S >::collide_	(	CollisionObject< S > *	obj,
		void *	cdata,
		CollisionCallBack< S >	callback
	)		const

protected

Definition at line 254 of file broadphase_SSaP-inl.h.

◆ distance() [1/3]

template<typename S >

void fcl::SSaPCollisionManager< S >::distance	(	BroadPhaseCollisionManager< S > *	other_manager,
		void *	cdata,
		DistanceCallBack< S >	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 553 of file broadphase_SSaP-inl.h.

◆ distance() [2/3]

template<typename S >

void fcl::SSaPCollisionManager< S >::distance	(	CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 303 of file broadphase_SSaP-inl.h.

◆ distance() [3/3]

template<typename S >

void fcl::SSaPCollisionManager< S >::distance	(	void *	cdata,
		DistanceCallBack< S >	callback
	)		const

virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 508 of file broadphase_SSaP-inl.h.

◆ distance_()

template<typename S >

bool fcl::SSaPCollisionManager< S >::distance_	(	CollisionObject< S > *	obj,
		void *	cdata,
		DistanceCallBack< S >	callback,
		S &	min_dist
	)		const

protected

Definition at line 313 of file broadphase_SSaP-inl.h.

◆ empty()

template<typename S >

bool fcl::SSaPCollisionManager< S >::empty

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 581 of file broadphase_SSaP-inl.h.

◆ getObjects()

template<typename S >

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

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 197 of file broadphase_SSaP-inl.h.

◆ registerObject()

template<typename S >

void fcl::SSaPCollisionManager< S >::registerObject ( CollisionObject< S > * obj )

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 156 of file broadphase_SSaP-inl.h.

◆ selectOptimalAxis()

template<typename S >

size_t fcl::SSaPCollisionManager< S >::selectOptimalAxis	(	const std::vector< CollisionObject< S > * > &	objs_x,
		const std::vector< CollisionObject< S > * > &	objs_y,
		const std::vector< CollisionObject< S > * > &	objs_z,
		typename std::vector< CollisionObject< S > * >::const_iterator &	it_beg,
		typename std::vector< CollisionObject< S > * >::const_iterator &	it_end
	)

staticprotected

simple sweep and prune method

Definition at line 412 of file broadphase_SSaP-inl.h.

◆ setup()

template<typename S >

void fcl::SSaPCollisionManager< S >::setup

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 166 of file broadphase_SSaP-inl.h.

◆ size()

template<typename S >

size_t fcl::SSaPCollisionManager< S >::size

virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 588 of file broadphase_SSaP-inl.h.

◆ unregisterObject()

template<typename S >

void fcl::SSaPCollisionManager< S >::unregisterObject ( CollisionObject< S > * obj )

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 101 of file broadphase_SSaP-inl.h.

◆ update()

template<typename S >

void fcl::SSaPCollisionManager< S >::update

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 179 of file broadphase_SSaP-inl.h.

Member Data Documentation

◆ objs_x

template<typename S >

std::vector<CollisionObject<S>*> fcl::SSaPCollisionManager< S >::objs_x

protected

Objects sorted according to lower x value.

Definition at line 117 of file broadphase_SSaP.h.

◆ objs_y

template<typename S >

std::vector<CollisionObject<S>*> fcl::SSaPCollisionManager< S >::objs_y

protected

Objects sorted according to lower y value.

Definition at line 120 of file broadphase_SSaP.h.

◆ objs_z

template<typename S >

std::vector<CollisionObject<S>*> fcl::SSaPCollisionManager< S >::objs_z

protected

Objects sorted according to lower z value.

Definition at line 123 of file broadphase_SSaP.h.

◆ setup_

template<typename S >

bool fcl::SSaPCollisionManager< S >::setup_

protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

Definition at line 126 of file broadphase_SSaP.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

template<typename S> class fcl::SSaPCollisionManager< S >

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDis()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects()

◆ registerObject()

◆ selectOptimalAxis()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update()

Member Data Documentation

◆ objs_x

◆ objs_y

◆ objs_z

◆ setup_

template<typename S>
class fcl::SSaPCollisionManager< S >