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38 #ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
39 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
41 #include <unordered_map>
128 std::unordered_map<CollisionObject<S>*,
size_t>
table;
int & tree_topdown_balance_threshold
Class for hierarchy tree structure.
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.
int tree_incremental_balance_pass
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.
std::unordered_map< CollisionObject< S > *, size_t > DynamicAABBTable
int max_tree_nonbalanced_level
bool octree_as_geometry_collide
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
bool octree_as_geometry_distance
detail::implementation_array::HierarchyTree< AABB< S > > dtree
the object for collision or distance computation, contains the geometry and the transform information
std::unordered_map< CollisionObject< S > *, size_t > table
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