spatial hashing collision mananger More...
#include <broadphase_spatialhash.h>
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 |
spatial hashing collision mananger
Definition at line 56 of file broadphase_spatialhash.h.
|
private |
Enumerator | |
---|---|
Inside | |
PartiallyPenetrating | |
Outside |
Definition at line 147 of file broadphase_spatialhash.h.
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.
fcl::SpatialHashingCollisionManager< S, HashTable >::~SpatialHashingCollisionManager |
Definition at line 68 of file broadphase_spatialhash-inl.h.
|
virtual |
clear the manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 283 of file broadphase_spatialhash-inl.h.
|
virtual |
perform collision test with objects belonging to another manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 543 of file broadphase_spatialhash-inl.h.
|
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.
|
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.
|
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.
|
static |
compute the bound for the environent
Definition at line 619 of file broadphase_spatialhash-inl.h.
|
virtual |
perform distance test with objects belonging to another manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 576 of file broadphase_spatialhash-inl.h.
|
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.
|
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.
|
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.
|
private |
Definition at line 633 of file broadphase_spatialhash-inl.h.
|
virtual |
whether the manager is empty
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 605 of file broadphase_spatialhash-inl.h.
|
virtual |
return the objects managed by the manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 293 of file broadphase_spatialhash-inl.h.
|
virtual |
add one object to the manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 75 of file broadphase_spatialhash-inl.h.
|
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.
|
virtual |
the number of objects managed by the manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 612 of file broadphase_spatialhash-inl.h.
|
virtual |
remove one object from the manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 100 of file broadphase_spatialhash-inl.h.
|
virtual |
update the condition of manager
Implements fcl::BroadPhaseCollisionManager< S >.
Definition at line 131 of file broadphase_spatialhash-inl.h.
|
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.
|
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.
|
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.
|
protected |
store the map between objects and their aabbs. will make update more convenient
Definition at line 140 of file broadphase_spatialhash.h.
|
protected |
all objects in the scene
Definition at line 127 of file broadphase_spatialhash.h.
|
protected |
objects outside the scene limit are in another list
Definition at line 134 of file broadphase_spatialhash.h.
|
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.
|
protected |
the size of the scene
Definition at line 137 of file broadphase_spatialhash.h.