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38 #ifndef FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
39 #define FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
83 virtual void setup() = 0;
86 virtual void update() = 0;
95 virtual void clear() = 0;
119 virtual bool empty()
const = 0;
122 virtual size_t size()
const = 0;
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....
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.
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...
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now.
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
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