FCL  0.6.0
Flexible Collision Library
fcl::SaPCollisionManager< S > Class Template Reference

Rigorous SAP collision manager. More...

#include <broadphase_SaP.h>

Inheritance diagram for fcl::SaPCollisionManager< S >:
fcl::BroadPhaseCollisionManager< 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 Functor to help remove collision pairs no longer valid (i.e., should be culled away) More...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

EndPointelist [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< SaPPairoverlap_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: