#include <broadphase_spatialhash.h>
Inheritance diagram for fcl::SpatialHashingCollisionManager< HashTable >:
Public Member Functions | |
| SpatialHashingCollisionManager (FCL_REAL cell_size, const Vec3f &scene_min, const Vec3f &scene_max, unsigned int default_table_size=1000) | |
| ~SpatialHashingCollisionManager () | |
| void | registerObject (CollisionObject *obj) |
| add one object to the manager | |
| void | unregisterObject (CollisionObject *obj) |
| remove one object from 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 ot 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 | |
Static Public Member Functions | |
| static void | computeBound (std::vector< CollisionObject * > &objs, Vec3f &l, Vec3f &u) |
| compute the bound for the environent | |
Protected Member Functions | |
| bool | collide_ (CollisionObject *obj, void *cdata, CollisionCallBack callback) const |
| perform collision test between one object and all the objects belonging to the manager | |
| bool | distance_ (CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const |
| perform distance computation between one object and all the objects belonging ot the manager | |
Protected Attributes | |
| std::list< CollisionObject * > | objs |
| all objects in the scene | |
| std::list< CollisionObject * > | objs_outside_scene_limit |
| objects outside the scene limit are in another list | |
| AABB | scene_limit |
| the size of the scene | |
|
std::map< CollisionObject *, AABB > | obj_aabb_map |
| store the map between objects and their aabbs. will make update more convenient | |
| HashTable * | hash_table |
| objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table | |
Definition at line 93 of file broadphase_spatialhash.h.
