Simple SAP collision manager. More...

#include <broadphase_SSaP.h>

Inheritance diagram for fcl::SSaPCollisionManager< S >:

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	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

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

Protected Member Functions
bool	checkColl (typename std::vector< CollisionObject< S > * >::const_iterator pos_start, typename std::vector< CollisionObject< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, CollisionCallBack< S > callback) const
	check collision between one object and a list of objects, return value is whether stop is possible

bool	checkDis (typename std::vector< CollisionObject< S > * >::const_iterator pos_start, typename std::vector< CollisionObject< S > * >::const_iterator pos_end, CollisionObject< S > obj, void cdata, DistanceCallBack< S > callback, S &min_dist) const
	check distance between one object and a list of objects, return value is whether stop is possible

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

Static Protected Member Functions
static size_t	selectOptimalAxis (const std::vector< CollisionObject< S > * > &objs_x, const std::vector< CollisionObject< S > * > &objs_y, const std::vector< CollisionObject< S > * > &objs_z, typename std::vector< CollisionObject< S > * >::const_iterator &it_beg, typename std::vector< CollisionObject< S > * >::const_iterator &it_end)

Protected Attributes
std::vector< CollisionObject< S > * >	objs_x
	Objects sorted according to lower x value.

std::vector< CollisionObject< S > * >	objs_y
	Objects sorted according to lower y value.

std::vector< CollisionObject< S > * >	objs_z
	Objects sorted according to lower z value.

bool	setup_
	tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

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::SSaPCollisionManager< S >

Simple SAP collision manager.

Member Function Documentation

template<typename S >

size_t fcl::SSaPCollisionManager< S >::selectOptimalAxis	(	const std::vector< CollisionObject< S > * > &	objs_x,
		const std::vector< CollisionObject< S > * > &	objs_y,
		const std::vector< CollisionObject< S > * > &	objs_z,
		typename std::vector< CollisionObject< S > * >::const_iterator &	it_beg,
		typename std::vector< CollisionObject< S > * >::const_iterator &	it_end
	)

staticprotected

simple sweep and prune method

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

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

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

Member Function Documentation

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