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fcl::CollisionFunctionMatrix

fcl::CollisionFunctionMatrix< NarrowPhaseSolver > Struct Template Reference

collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...

#include <collision_func_matrix.h>

List of all members.


Public Types

typedef std::size_t(*) CollisionFunc (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
 the uniform call interface for collision: for collision, we need know 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2; 2. the solver for narrow phase collision, this is for the collision between geometric shapes; 3. the request setting for collision (e.g., whether need to return normal information, whether need to compute cost); 4. the structure to return collision result

Public Member Functions

 CollisionFunctionMatrix ()

Public Attributes

CollisionFunc collision_matrix [NODE_COUNT][NODE_COUNT]
 each item in the collision matrix is a function to handle collision between objects of type1 and type2

Detailed Description

template<typename NarrowPhaseSolver>
struct fcl::CollisionFunctionMatrix< NarrowPhaseSolver >

collision matrix stores the functions for collision between different types of objects and provides a uniform call interface

Definition at line 50 of file collision_func_matrix.h.

The documentation for this struct was generated from the following files: