#include <coal/broadphase/broadphase_dynamic_AABB_tree.h>

Inheritance diagram for coal::DynamicAABBTreeCollisionManager:

Public Types
typedef BroadPhaseCollisionManager	Base
using	DynamicAABBNode = detail::NodeBase<AABB>
using	DynamicAABBTable

Public Member Functions
	DynamicAABBTreeCollisionManager ()
void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager
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
virtual 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, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager
void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging to the manager
void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void	collide (BroadPhaseCollisionManager other_manager_, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager
void	distance (BroadPhaseCollisionManager other_manager_, DistanceCallBackBase 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
const detail::HierarchyTree< AABB > &	getTree () const
	returns the AABB tree structure.
detail::HierarchyTree< AABB > &	getTree ()
	returns the AABB tree structure.
virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager
Public Member Functions inherited from coal::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()
virtual	~BroadPhaseCollisionManager ()

Public Attributes
int	max_tree_nonbalanced_level
int	tree_incremental_balance_pass
int *	tree_topdown_balance_threshold {nullptr}
int *	tree_topdown_level {nullptr}
int	tree_init_level
bool	octree_as_geometry_collide
bool	octree_as_geometry_distance

Additional Inherited Members
Protected Member Functions inherited from coal::BroadPhaseCollisionManager
bool	inTestedSet (CollisionObject a, CollisionObject b) const
void	insertTestedSet (CollisionObject a, CollisionObject b) const
Protected Attributes inherited from coal::BroadPhaseCollisionManager
std::set< std::pair< CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms.
bool	enable_tested_set_

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager coal::DynamicAABBTreeCollisionManager::Base

◆ DynamicAABBNode

using coal::DynamicAABBTreeCollisionManager::DynamicAABBNode = detail::NodeBase<AABB>

◆ DynamicAABBTable

using coal::DynamicAABBTreeCollisionManager::DynamicAABBTable

Initial value:

std::unordered_map<CollisionObject*, DynamicAABBNode*>

Constructor & Destructor Documentation

◆ DynamicAABBTreeCollisionManager()

coal::DynamicAABBTreeCollisionManager::DynamicAABBTreeCollisionManager ( )

Member Function Documentation

◆ clear()

void coal::DynamicAABBTreeCollisionManager::clear ( )

virtual

clear the manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [1/3]

void coal::DynamicAABBTreeCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager_,
		CollisionCallBackBase *	callback ) const

virtual

perform collision test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

◆ collide() [2/3]

void coal::DynamicAABBTreeCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements coal::BroadPhaseCollisionManager.

◆ collide() [3/3]

void coal::DynamicAABBTreeCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback ) const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [1/3]

void coal::DynamicAABBTreeCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager_,
		DistanceCallBackBase *	callback ) const

virtual

perform distance test with objects belonging to another manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [2/3]

void coal::DynamicAABBTreeCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback ) const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements coal::BroadPhaseCollisionManager.

◆ distance() [3/3]

void coal::DynamicAABBTreeCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements coal::BroadPhaseCollisionManager.

◆ empty()

bool coal::DynamicAABBTreeCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements coal::BroadPhaseCollisionManager.

◆ getObjects() [1/2]

virtual std::vector< CollisionObject * > coal::BroadPhaseCollisionManager::getObjects ( ) const

inlinevirtual

return the objects managed by the manager

Reimplemented from coal::BroadPhaseCollisionManager.

◆ getObjects() [2/2]

void coal::DynamicAABBTreeCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ getTree() [1/2]

detail::HierarchyTree< AABB > & coal::DynamicAABBTreeCollisionManager::getTree ( )

returns the AABB tree structure.

◆ getTree() [2/2]

const detail::HierarchyTree< AABB > & coal::DynamicAABBTreeCollisionManager::getTree ( ) const

returns the AABB tree structure.

◆ registerObject()

void coal::DynamicAABBTreeCollisionManager::registerObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements coal::BroadPhaseCollisionManager.

◆ registerObjects()

void coal::DynamicAABBTreeCollisionManager::registerObjects ( const std::vector< CollisionObject * > & other_objs )

virtual

add objects to the manager

Reimplemented from coal::BroadPhaseCollisionManager.

◆ setup()

void coal::DynamicAABBTreeCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements coal::BroadPhaseCollisionManager.

◆ size()

size_t coal::DynamicAABBTreeCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements coal::BroadPhaseCollisionManager.

◆ unregisterObject()

void coal::DynamicAABBTreeCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [1/3]

virtual void coal::DynamicAABBTreeCollisionManager::update ( )

virtual

update the condition of manager

Implements coal::BroadPhaseCollisionManager.

◆ update() [2/3]

void coal::DynamicAABBTreeCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented from coal::BroadPhaseCollisionManager.

◆ update() [3/3]

void coal::DynamicAABBTreeCollisionManager::update ( const std::vector< CollisionObject * > & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented from coal::BroadPhaseCollisionManager.

Member Data Documentation

◆ max_tree_nonbalanced_level

int coal::DynamicAABBTreeCollisionManager::max_tree_nonbalanced_level

◆ octree_as_geometry_collide

bool coal::DynamicAABBTreeCollisionManager::octree_as_geometry_collide

◆ octree_as_geometry_distance

bool coal::DynamicAABBTreeCollisionManager::octree_as_geometry_distance

◆ tree_incremental_balance_pass

int coal::DynamicAABBTreeCollisionManager::tree_incremental_balance_pass

◆ tree_init_level

int coal::DynamicAABBTreeCollisionManager::tree_init_level

◆ tree_topdown_balance_threshold

int* coal::DynamicAABBTreeCollisionManager::tree_topdown_balance_threshold {nullptr}

◆ tree_topdown_level

int* coal::DynamicAABBTreeCollisionManager::tree_topdown_level {nullptr}

The documentation for this class was generated from the following file:

include/coal/broadphase/broadphase_dynamic_AABB_tree.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Typedef Documentation

◆ Base

◆ DynamicAABBNode

◆ DynamicAABBTable

Constructor & Destructor Documentation

◆ DynamicAABBTreeCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ empty()

◆ getObjects() [1/2]

◆ getObjects() [2/2]

◆ getTree() [1/2]

◆ getTree() [2/2]

◆ registerObject()

◆ registerObjects()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ max_tree_nonbalanced_level

◆ octree_as_geometry_collide

◆ octree_as_geometry_distance

◆ tree_incremental_balance_pass

◆ tree_init_level

◆ tree_topdown_balance_threshold

◆ tree_topdown_level