Collision manager based on interval tree. More...

#include <broadphase_interval_tree.h>

Inheritance diagram for fcl::IntervalTreeCollisionManager< S >:

Classes
struct	EndPoint
	SAP end point. More...

struct	SAPInterval
	Extention interval tree's interval to SAP interval, adding more information. More...

Public Member Functions
void	registerObject (CollisionObject< S > *obj)
	remove one object from the manager

void	unregisterObject (CollisionObject< S > *obj)
	add one object to the manager

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

void	update ()
	update the condition of manager

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

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

void	clear ()
	clear the manager

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

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

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

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

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

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

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

bool	empty () const
	whether the manager is empty

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

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

Protected Member Functions
bool	checkColl (typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const

bool	checkDist (typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const

bool	collide_ (CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const

bool	distance_ (CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const

Protected Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
bool	inTestedSet (CollisionObject< S > a, CollisionObject< S > b) const

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

Protected Attributes
std::vector< EndPoint >	endpoints [3]
	vector stores all the end points

detail::IntervalTree< S > *	interval_trees [3]
	interval tree manages the intervals

std::map< CollisionObject< S > , SAPInterval >	obj_interval_maps [3]

bool	setup_
	tag for whether the interval tree is maintained suitably

Protected Attributes inherited from fcl::BroadPhaseCollisionManager< S >
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::IntervalTreeCollisionManager< S >

Collision manager based on interval tree.

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

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