spatial hashing collision mananger More...

#include <broadphase_spatialhash.h>

Inheritance diagram for fcl::SpatialHashingCollisionManager< S, HashTable >:

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 ot 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)
	add one object to 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...

	SpatialHashingCollisionManager (S cell_size, const Vector3< S > &scene_min, const Vector3< S > &scene_max, unsigned int default_table_size=1000)

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

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

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

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

	~SpatialHashingCollisionManager ()

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	~BroadPhaseCollisionManager ()

Static Public Member Functions
static void	computeBound (std::vector< CollisionObject< S > * > &objs, Vector3< S > &l, Vector3< S > &u)
	compute the bound for the environent More...

Protected Member Functions
bool	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...

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

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

Protected Attributes
HashTable *	hash_table
	objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table More...

std::map< CollisionObject< S > *, AABB< S > >	obj_aabb_map
	store the map between objects and their aabbs. will make update more convenient More...

std::list< CollisionObject< S > * >	objs
	all objects in the scene More...

std::list< CollisionObject< S > * >	objs_outside_scene_limit
	objects outside the scene limit are in another list More...

std::list< CollisionObject< S > * >	objs_partially_penetrating_scene_limit
	objects partially penetrating (not totally inside nor outside) the scene limit are in another list More...

AABB< S >	scene_limit
	the size of the scene 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...

Private Types
enum	ObjectStatus { Inside, PartiallyPenetrating, Outside }

Private Member Functions
template<typename Container >
bool	distanceObjectToObjects (CollisionObject< S > obj, const Container &objs, void cdata, DistanceCallBack< S > callback, S &min_dist) const

Detailed Description

template<typename S, typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>
class fcl::SpatialHashingCollisionManager< S, HashTable >

spatial hashing collision mananger

Definition at line 56 of file broadphase_spatialhash.h.

Member Enumeration Documentation

◆ ObjectStatus

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

enum fcl::SpatialHashingCollisionManager::ObjectStatus

private

Enumerator
Inside
PartiallyPenetrating
Outside

Definition at line 147 of file broadphase_spatialhash.h.

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

template<typename S , typename HashTable >

fcl::SpatialHashingCollisionManager< S, HashTable >::SpatialHashingCollisionManager	(	S	cell_size,
		const Vector3< S > &	scene_min,
		const Vector3< S > &	scene_max,
		unsigned int	default_table_size = `1000`
	)

Definition at line 55 of file broadphase_spatialhash-inl.h.

◆ ~SpatialHashingCollisionManager()

template<typename S , typename HashTable >

fcl::SpatialHashingCollisionManager< S, HashTable >::~SpatialHashingCollisionManager

Definition at line 68 of file broadphase_spatialhash-inl.h.

Member Function Documentation

◆ clear()

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::clear

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 283 of file broadphase_spatialhash-inl.h.

◆ collide() [1/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::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 543 of file broadphase_spatialhash-inl.h.

◆ collide() [2/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::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 301 of file broadphase_spatialhash-inl.h.

◆ collide() [3/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::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 460 of file broadphase_spatialhash-inl.h.

◆ collide_()

template<typename S , typename HashTable >

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

protected

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

Definition at line 318 of file broadphase_spatialhash-inl.h.

◆ computeBound()

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::computeBound	(	std::vector< CollisionObject< S > * > &	objs,
		Vector3< S > &	l,
		Vector3< S > &	u
	)

static

compute the bound for the environent

Definition at line 619 of file broadphase_spatialhash-inl.h.

◆ distance() [1/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::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 576 of file broadphase_spatialhash-inl.h.

◆ distance() [2/3]

template<typename S , typename HashTable >

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

virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 309 of file broadphase_spatialhash-inl.h.

◆ distance() [3/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::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 520 of file broadphase_spatialhash-inl.h.

◆ distance_()

template<typename S , typename HashTable >

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

protected

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

Definition at line 374 of file broadphase_spatialhash-inl.h.

◆ distanceObjectToObjects()

template<typename S , typename HashTable >

template<typename Container >

bool fcl::SpatialHashingCollisionManager< S, HashTable >::distanceObjectToObjects	(	CollisionObject< S > *	obj,
		const Container &	objs,
		void *	cdata,
		DistanceCallBack< S >	callback,
		S &	min_dist
	)		const

private

Definition at line 633 of file broadphase_spatialhash-inl.h.

◆ empty()

template<typename S , typename HashTable >

bool fcl::SpatialHashingCollisionManager< S, HashTable >::empty

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 605 of file broadphase_spatialhash-inl.h.

◆ getObjects()

template<typename S , typename HashTable >

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

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 293 of file broadphase_spatialhash-inl.h.

◆ registerObject()

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::registerObject ( CollisionObject< S > * obj )

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 75 of file broadphase_spatialhash-inl.h.

◆ setup()

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::setup

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 124 of file broadphase_spatialhash-inl.h.

◆ size()

template<typename S , typename HashTable >

size_t fcl::SpatialHashingCollisionManager< S, HashTable >::size

virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 612 of file broadphase_spatialhash-inl.h.

◆ unregisterObject()

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::unregisterObject ( CollisionObject< S > * obj )

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 100 of file broadphase_spatialhash-inl.h.

◆ update() [1/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::update

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager< S >.

Definition at line 131 of file broadphase_spatialhash-inl.h.

◆ update() [2/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::update ( CollisionObject< S > * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

Definition at line 161 of file broadphase_spatialhash-inl.h.

◆ update() [3/3]

template<typename S , typename HashTable >

void fcl::SpatialHashingCollisionManager< S, HashTable >::update ( const std::vector< CollisionObject< S > * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

Definition at line 275 of file broadphase_spatialhash-inl.h.

Member Data Documentation

◆ hash_table

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

HashTable* fcl::SpatialHashingCollisionManager< S, HashTable >::hash_table

protected

objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table

Definition at line 143 of file broadphase_spatialhash.h.

◆ obj_aabb_map

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

std::map<CollisionObject<S>*, AABB<S> > fcl::SpatialHashingCollisionManager< S, HashTable >::obj_aabb_map

protected

store the map between objects and their aabbs. will make update more convenient

Definition at line 140 of file broadphase_spatialhash.h.

◆ objs

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

std::list<CollisionObject<S>*> fcl::SpatialHashingCollisionManager< S, HashTable >::objs

protected

all objects in the scene

Definition at line 127 of file broadphase_spatialhash.h.

◆ objs_outside_scene_limit

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

std::list<CollisionObject<S>*> fcl::SpatialHashingCollisionManager< S, HashTable >::objs_outside_scene_limit

protected

objects outside the scene limit are in another list

Definition at line 134 of file broadphase_spatialhash.h.

◆ objs_partially_penetrating_scene_limit

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

std::list<CollisionObject<S>*> fcl::SpatialHashingCollisionManager< S, HashTable >::objs_partially_penetrating_scene_limit

protected

objects partially penetrating (not totally inside nor outside) the scene limit are in another list

Definition at line 131 of file broadphase_spatialhash.h.

◆ scene_limit

template<typename S , typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>

AABB<S> fcl::SpatialHashingCollisionManager< S, HashTable >::scene_limit

protected

the size of the scene

Definition at line 137 of file broadphase_spatialhash.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

template<typename S, typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>> class fcl::SpatialHashingCollisionManager< S, HashTable >

Member Enumeration Documentation

◆ ObjectStatus

Constructor & Destructor Documentation

◆ SpatialHashingCollisionManager()

◆ ~SpatialHashingCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ computeBound()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ distanceObjectToObjects()

◆ empty()

◆ getObjects()

◆ registerObject()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ hash_table

◆ obj_aabb_map

◆ objs

◆ objs_outside_scene_limit

◆ objs_partially_penetrating_scene_limit

◆ scene_limit

template<typename S, typename HashTable = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>>>
class fcl::SpatialHashingCollisionManager< S, HashTable >