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38 #ifndef FCL_BROAD_PHASE_SAP_H
39 #define FCL_BROAD_PHASE_SAP_H
122 class FCL_EXPORT isUnregistered;
125 class FCL_EXPORT isNotValidPair;
127 void update_(
SaPAABB* updated_aabb);
135 std::vector<EndPoint*> velist[3];
151 void addToOverlapPairs(
const SaPPair& p);
153 void removeFromOverlapPairs(
const SaPPair& p);
160 template <
typename S>
167 typename SaPCollisionManager<S>::EndPoint*
lo;
170 typename SaPCollisionManager<S>::EndPoint*
hi;
177 template <
typename S>
184 typename SaPCollisionManager<S>::SaPAABB*
aabb;
193 const Vector3<S>& getVal()
const;
196 Vector3<S>& getVal();
198 S getVal(
size_t i)
const;
205 template <
typename S>
213 bool operator == (
const SaPPair& other)
const;
217 template <
typename S>
225 bool operator() (
const SaPPair& pair)
const;
229 template <
typename S>
238 bool operator() (
const SaPPair& pair);
CollisionObject< S > * obj2
CollisionObject< S > * obj2
SAP interval for one object.
template void minmax(double a, double b, double &minv, double &maxv)
std::list< SaPAABB * > AABB_arr
SAP interval list.
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.
End point for an interval.
AABB< S > cached
cached AABB value
CollisionObject< S > * obj1
std::list< SaPPair > overlap_pairs
The pair of objects that should further check for collision.
CollisionObject< S > * obj
object
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...
SaPCollisionManager< S >::EndPoint * hi
higher bound end point of the interval
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now.
EndPoint * prev[3]
the previous end point in the end point list
EndPoint * next[3]
the next end point in the end point list
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
std::map< CollisionObject< S > *, SaPAABB * > obj_aabb_map
CollisionObject< S > * obj
A pair of objects that are not culling away and should further check collision.
SaPCollisionManager< S >::EndPoint * lo
lower bound end point of the interval
SaPCollisionManager< S >::SaPAABB * aabb
back pointer to SAP interval
CollisionObject< S > * obj1
Rigorous SAP collision manager.
the object for collision or distance computation, contains the geometry and the transform information
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:48