38 #ifndef FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H 39 #define FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H 44 #include "fcl/narrowphase/collision_object.h" 83 virtual void setup() = 0;
95 virtual void clear() = 0;
119 virtual bool empty()
const = 0;
122 virtual size_t size()
const = 0;
128 mutable bool enable_tested_set_;
141 #include "fcl/broadphase/broadphase_collision_manager-inl.h" Main namespace.
Definition: broadphase_bruteforce-inl.h:45
virtual size_t size() const =0
the number of objects managed by the manager
virtual void setup()=0
initialize the manager, related with the specific type of 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 unregisterObject(CollisionObject< S > *obj)=0
remove one object from the manager
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...
Definition: broadphase_collision_manager.h:127
virtual void registerObjects(const std::vector< CollisionObject< S > * > &other_objs)
add objects to the manager
Definition: broadphase_collision_manager-inl.h:66
virtual void registerObject(CollisionObject< S > *obj)=0
add one object to the manager
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now. ...
Definition: broadphase_collision_manager.h:53
virtual void update()=0
update the condition of manager
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...
Definition: broadphase_collision_manager.h:60
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 clear()=0
clear the manager
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:51
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66
virtual void getObjects(std::vector< CollisionObject< S > * > &objs) const =0
return the objects managed by the manager
virtual bool empty() const =0
whether the manager is empty