Rigorous SAP collision manager. More...

#include <broadphase_SaP.h>

Inheritance diagram for fcl::SaPCollisionManager< S >:

Classes
struct	EndPoint
	End point for an interval. More...

class	isNotValidPair
	Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...

class	isUnregistered
	Functor to help unregister one object. More...

struct	SaPAABB
	SAP interval for one object. More...

struct	SaPPair
	A pair of objects that are not culling away and should further check collision. More...

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

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

Protected Member Functions
void	update_ (SaPAABB *updated_aabb)

void	updateVelist ()

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

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

void	addToOverlapPairs (const SaPPair &p)

void	removeFromOverlapPairs (const SaPPair &p)

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
EndPoint *	elist [3]
	End point list for x, y, z coordinates.

std::vector< EndPoint * >	velist [3]
	vector version of elist, for acceleration

std::list< SaPAABB * >	AABB_arr
	SAP interval list.

std::list< SaPPair >	overlap_pairs
	The pair of objects that should further check for collision.

size_t	optimal_axis

std::map< CollisionObject< S > , SaPAABB >	obj_aabb_map

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::SaPCollisionManager< S >

Rigorous SAP collision manager.

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

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