Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...

#include <broadphase_collision_manager.h>

Inheritance diagram for fcl::BroadPhaseCollisionManager< S >:

Public Member Functions
virtual void	registerObjects (const std::vector< CollisionObject< S > * > &other_objs)
	add objects to the manager

virtual void	registerObject (CollisionObject< S > *obj)=0
	add one object to the manager

virtual void	unregisterObject (CollisionObject< S > *obj)=0
	remove one object from the manager

virtual void	setup ()=0
	initialize the manager, related with the specific type of manager

virtual void	update ()=0
	update the condition of manager

virtual void	update (CollisionObject< S > *updated_obj)
	update the manager by explicitly given the object updated

virtual void	update (const std::vector< CollisionObject< S > * > &updated_objs)
	update the manager by explicitly given the set of objects update

virtual void	clear ()=0
	clear the manager

virtual void	getObjects (std::vector< CollisionObject< S > * > &objs) const =0
	return the objects managed by the manager

virtual void	collide (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const =0
	perform collision test between one object and all the objects belonging to the manager

virtual void	distance (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback) const =0
	perform distance computation between one object and all the objects belonging to the manager

virtual void	collide (void *cdata, CollisionCallBack< S > callback) const =0
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

virtual void	distance (void *cdata, DistanceCallBack< S > callback) const =0
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

virtual void	collide (BroadPhaseCollisionManager other_manager, void cdata, CollisionCallBack< S > callback) const =0
	perform collision test with objects belonging to another manager

virtual void	distance (BroadPhaseCollisionManager other_manager, void cdata, DistanceCallBack< S > callback) const =0
	perform distance test with objects belonging to another manager

virtual bool	empty () const =0
	whether the manager is empty

virtual size_t	size () const =0
	the number of objects managed by the manager

Protected Member Functions
bool	inTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

void	insertTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

Protected Attributes
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.

bool	enable_tested_set_

Detailed Description

template<typename S>
class fcl::BroadPhaseCollisionManager< S >

Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.

The documentation for this class was generated from the following files:

/home/js/dev/fcl/master/include/fcl/broadphase/broadphase_collision_manager.h
/home/js/dev/fcl/master/include/fcl/broadphase/broadphase_collision_manager-inl.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename S> class fcl::BroadPhaseCollisionManager< S >

template<typename S>
class fcl::BroadPhaseCollisionManager< S >