#include <broadphase_interval_tree.h>
Inheritance diagram for fcl::IntervalTreeCollisionManager:
Public Member Functions | |
| IntervalTreeCollisionManager () | |
| ~IntervalTreeCollisionManager () | |
| void | registerObject (CollisionObject *obj) |
| remove one object from the manager | |
| void | unregisterObject (CollisionObject *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 *updated_obj) |
| update the manager by explicitly given the object updated | |
| void | update (const std::vector< CollisionObject * > &updated_objs) |
| update the manager by explicitly given the set of objects update | |
| void | clear () |
| clear the manager | |
| void | getObjects (std::vector< CollisionObject * > &objs) const |
| return the objects managed by the manager | |
| void | collide (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| perform collision test between one object and all the objects belonging to the manager | |
| void | distance (CollisionObject *obj, void *cdata, DistanceCallBack callback) const |
| perform distance computation between one object and all the objects belonging to the manager | |
| void | collide (void *cdata, CollisionCallBack callback) const |
| perform collision test for the objects belonging to the manager (i.e., N^2 self collision) | |
| void | distance (void *cdata, DistanceCallBack callback) const |
| perform distance test for the objects belonging to the manager (i.e., N^2 self distance) | |
| void | collide (BroadPhaseCollisionManager *other_manager, void *cdata, CollisionCallBack callback) const |
| perform collision test with objects belonging to another manager | |
| void | distance (BroadPhaseCollisionManager *other_manager, void *cdata, DistanceCallBack 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 | |
| bool | checkColl (std::deque< SimpleInterval * >::const_iterator pos_start, std::deque< SimpleInterval * >::const_iterator pos_end, CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| bool | checkDist (std::deque< SimpleInterval * >::const_iterator pos_start, std::deque< SimpleInterval * >::const_iterator pos_end, CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
| bool | collide_ (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| bool | distance_ (CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
Protected Attributes | |
| std::vector< EndPoint > | endpoints [3] |
| vector stores all the end points | |
| IntervalTree * | interval_trees [3] |
| interval tree manages the intervals | |
|
std::map< CollisionObject *, SAPInterval * > | obj_interval_maps [3] |
| bool | setup_ |
| tag for whether the interval tree is maintained suitably | |
Classes | |
| struct | EndPoint |
| SAP end point. More... | |
| struct | SAPInterval |
| Extention interval tree's interval to SAP interval, adding more information. More... | |
Definition at line 49 of file broadphase_interval_tree.h.
