#include <broadphase_SSaP.h>
Inheritance diagram for fcl::SSaPCollisionManager:
Public Member Functions | |
| SSaPCollisionManager () | |
| 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 | 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::vector< CollisionObject * >::const_iterator pos_start, std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| check collision between one object and a list of objects, return value is whether stop is possible | |
| bool | checkDis (std::vector< CollisionObject * >::const_iterator pos_start, std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
| check distance between one object and a list of objects, return value is whether stop is possible | |
| bool | collide_ (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| bool | distance_ (CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
Static Protected Member Functions | |
| static size_t | selectOptimalAxis (const std::vector< CollisionObject * > &objs_x, const std::vector< CollisionObject * > &objs_y, const std::vector< CollisionObject * > &objs_z, std::vector< CollisionObject * >::const_iterator &it_beg, std::vector< CollisionObject * >::const_iterator &it_end) |
Protected Attributes | |
| std::vector< CollisionObject * > | objs_x |
| Objects sorted according to lower x value. | |
| std::vector< CollisionObject * > | objs_y |
| Objects sorted according to lower y value. | |
| std::vector< CollisionObject * > | 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 | |
Definition at line 47 of file broadphase_SSaP.h.
| static size_t fcl::SSaPCollisionManager::selectOptimalAxis | ( | const std::vector< CollisionObject * > & | objs_x, | |
| const std::vector< CollisionObject * > & | objs_y, | |||
| const std::vector< CollisionObject * > & | objs_z, | |||
| std::vector< CollisionObject * >::const_iterator & | it_beg, | |||
| std::vector< CollisionObject * >::const_iterator & | it_end | |||
| ) | [inline, static, protected] |
Definition at line 108 of file broadphase_SSaP.h.
