Template Struct BroadPhaseManagerBase

Struct Documentation

template<typename Derived>
struct BroadPhaseManagerBase

Public Functions

inline BroadPhaseManagerBase()

Default constructor.

inline BroadPhaseManagerBase(const Model *model_ptr, const GeometryModel *geometry_model_ptr, GeometryData *geometry_data_ptr)

Constructor from a given geometry model and geometry data.

inline BroadPhaseManagerBase(const BroadPhaseManagerBase &other)

Copy constructor.

inline BroadPhaseManagerBase &operator=(const BroadPhaseManagerBase &other)
inline Derived &derived()
inline const Derived &derived() const
inline bool check() const

Check whether the base broad phase manager is aligned with the current collision_objects.

inline bool check(CollisionCallBackBase *callback) const

Check whether the callback is inline with *this.

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.

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.

inline bool collide(CollisionObject &obj, CollisionCallBackBase *callback) const

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

inline bool collide(CollisionCallBackBase *callback) const

Performs collision test for the objects belonging to the manager.

inline bool collide(BroadPhaseManagerBase &other_manager, CollisionCallBackBase *callback) const

Performs collision test with objects belonging to another manager.

inline const Model &getModel() const

Returns the model associated to the manager.

inline const GeometryModel &getGeometryModel() const

Returns the geometry model associated to the manager.

inline const GeometryData &getGeometryData() const

Returns the geometry data associated to the manager.

inline GeometryData &getGeometryData()

Returns the geometry data associated to the manager.

Protected Attributes

const Model *model_ptr

Pointer to the model.

const GeometryModel *geometry_model_ptr

Pointer to the geometry model.

GeometryData *geometry_data_ptr

Pointer to the geometry data.