#include <broadphase_SaP.h>
Inheritance diagram for fcl::SaPCollisionManager:
Public Member Functions | |
| SaPCollisionManager () | |
| ~SaPCollisionManager () | |
| void | registerObjects (const std::vector< CollisionObject * > &other_objs) |
| add objects to the manager | |
| 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 | |
| void | update_ (SaPAABB *updated_aabb) |
| void | updateVelist () |
| bool | distance_ (CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
| bool | collide_ (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| void | addToOverlapPairs (const SaPPair &p) |
| void | removeFromOverlapPairs (const SaPPair &p) |
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 *, SaPAABB * > | obj_aabb_map |
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... | |
Definition at line 49 of file broadphase_SaP.h.
