#include <CollisionDetector.hpp>

Inheritance diagram for dart::collision::CollisionDetector:

Classes
class	CollisionObjectManager

class	ManagerForSharableCollisionObjects

class	ManagerForUnsharableCollisionObjects

Public Types
using	Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr< CollisionDetector > >

using	SingletonFactory = common::Singleton< Factory >

template<typename Derived >
using	Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr< CollisionDetector > >

Public Member Functions
virtual	~CollisionDetector ()=default
	Destructor. More...

virtual std::shared_ptr< CollisionDetector >	cloneWithoutCollisionObjects () const =0
	Create a clone of this CollisionDetector. More...

virtual const std::string &	getType () const =0
	Return collision detection engine type as a std::string. More...

virtual std::unique_ptr< CollisionGroup >	createCollisionGroup ()=0
	Create a collision group. More...

std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr ()
	Helper function that creates and returns CollisionGroup as a shared_ptr. More...

template<typename... Args>
std::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...

template<typename... Args>
std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr (const Args &... args)
	Helper function that creates and returns CollisionGroup as shared_ptr. More...

virtual bool	collide (CollisionGroup group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr)=0
	Perform collision check for a single group. More...

virtual bool	collide (CollisionGroup group1, CollisionGroup group2, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr)=0
	Perform collision check for two groups. More...

virtual double	distance (CollisionGroup group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult result=nullptr)=0
	Get the minimum signed distance between the Shape pairs in the given CollisionGroup. More...

virtual double	distance (CollisionGroup group1, CollisionGroup group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr)=0
	Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2). More...

virtual bool	raycast (CollisionGroup group, const Eigen::Vector3d &from, const Eigen::Vector3d &to, const RaycastOption &option=RaycastOption(), RaycastResult result=nullptr)
	Performs raycast to a collision group. More...

Static Public Member Functions
static Factory *	getFactory ()
	Returns the singleton factory. More...

Protected Member Functions
	CollisionDetector ()=default
	Constructor. More...

std::shared_ptr< CollisionObject >	claimCollisionObject (const dynamics::ShapeFrame *shapeFrame)
	Claim CollisionObject associated with shapeFrame. More...

virtual std::unique_ptr< CollisionObject >	createCollisionObject (const dynamics::ShapeFrame *shapeFrame)=0
	Create CollisionObject. More...

virtual void	refreshCollisionObject (CollisionObject *object)=0
	Update the collision geometry of a ShapeFrame. More...

virtual void	notifyCollisionObjectDestroying (CollisionObject *object)
	Notify that a CollisionObject is destroying. Do nothing by default. More...

Protected Attributes
std::unique_ptr< CollisionObjectManager >	mCollisionObjectManager

Friends
class	CollisionObject

class	CollisionGroup

Member Typedef Documentation

◆ Factory

using dart::collision::CollisionDetector::Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr<CollisionDetector> >

◆ Registrar

template<typename Derived >

using dart::collision::CollisionDetector::Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr<CollisionDetector> >

◆ SingletonFactory

using dart::collision::CollisionDetector::SingletonFactory = common::Singleton<Factory>

Constructor & Destructor Documentation

◆ ~CollisionDetector()

virtual dart::collision::CollisionDetector::~CollisionDetector ( )

virtualdefault

Destructor.

◆ CollisionDetector()

dart::collision::CollisionDetector::CollisionDetector ( )

protecteddefault

Constructor.

Member Function Documentation

◆ claimCollisionObject()

std::shared_ptr< CollisionObject > dart::collision::CollisionDetector::claimCollisionObject ( const dynamics::ShapeFrame * shapeFrame )

protected

Claim CollisionObject associated with shapeFrame.

New CollisionObject will be created if it hasn't created yet for shapeFrame.

◆ cloneWithoutCollisionObjects()

virtual std::shared_ptr<CollisionDetector> dart::collision::CollisionDetector::cloneWithoutCollisionObjects ( ) const

pure virtual

Create a clone of this CollisionDetector.

All the properties will be copied over, but not collision objects.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ collide() [1/2]

virtual bool dart::collision::CollisionDetector::collide	(	CollisionGroup *	group,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

pure virtual

Perform collision check for a single group.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ collide() [2/2]

virtual bool dart::collision::CollisionDetector::collide	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

pure virtual

Perform collision check for two groups.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ createCollisionGroup() [1/2]

virtual std::unique_ptr<CollisionGroup> dart::collision::CollisionDetector::createCollisionGroup ( )

pure virtual

Create a collision group.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, dart::collision::BulletCollisionDetector, dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ createCollisionGroup() [2/2]

template<typename... Args>

std::unique_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroup ( const Args &... args )

Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf().

The objects can be any of ShapeFrame, std::vector<ShapeFrame>, CollisionGroup, BodyNode, and Skeleton.

Note that this function adds only the ShapeFrames of each object at the moment that this function is called. Any later addition to or removal of the ShapeFrames that are attached to these objects will NOT be noticed.

◆ createCollisionGroupAsSharedPtr() [1/2]

std::shared_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroupAsSharedPtr ( )

Helper function that creates and returns CollisionGroup as a shared_ptr.

Internally, this function creates a shared_ptr from unique_ptr returned from createCollisionGroup() so the performance would be slighly worse than using std::make_unique.

◆ createCollisionGroupAsSharedPtr() [2/2]

template<typename... Args>

std::shared_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroupAsSharedPtr ( const Args &... args )

Helper function that creates and returns CollisionGroup as shared_ptr.

◆ createCollisionObject()

virtual std::unique_ptr<CollisionObject> dart::collision::CollisionDetector::createCollisionObject ( const dynamics::ShapeFrame * shapeFrame )

protectedpure virtual

Create CollisionObject.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ distance() [1/2]

virtual double dart::collision::CollisionDetector::distance	(	CollisionGroup *	group,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

pure virtual

Get the minimum signed distance between the Shape pairs in the given CollisionGroup.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ distance() [2/2]

virtual double dart::collision::CollisionDetector::distance	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

pure virtual

Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2).

Note that the distance between shapes within the same CollisionGroup are not accounted.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ getFactory()

CollisionDetector::Factory * dart::collision::CollisionDetector::getFactory ( )

static

Returns the singleton factory.

◆ getType()

virtual const std::string& dart::collision::CollisionDetector::getType ( ) const

pure virtual

Return collision detection engine type as a std::string.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

◆ notifyCollisionObjectDestroying()

void dart::collision::CollisionDetector::notifyCollisionObjectDestroying ( CollisionObject * object )

protectedvirtual

Notify that a CollisionObject is destroying. Do nothing by default.

Reimplemented in dart::collision::BulletCollisionDetector.

◆ raycast()

bool dart::collision::CollisionDetector::raycast	(	CollisionGroup *	group,
		const Eigen::Vector3d &	from,
		const Eigen::Vector3d &	to,
		const RaycastOption &	option = `RaycastOption()`,
		RaycastResult *	result = `nullptr`
	)

virtual

Performs raycast to a collision group.

Parameters

[in]	group	The collision group the ray will be casted onto.
[in]	from	The start point of the ray in world coordinates.
[in]	to	The end point of the ray in world coordinates.
[in]	option	The raycast option.
[in]	result	The raycast result.

Returns: True if the ray hit an collision object.

Reimplemented in dart::collision::BulletCollisionDetector.

◆ refreshCollisionObject()

virtual void dart::collision::CollisionDetector::refreshCollisionObject ( CollisionObject * object )

protectedpure virtual

Update the collision geometry of a ShapeFrame.

Implemented in dart::collision::OdeCollisionDetector, dart::collision::FCLCollisionDetector, dart::collision::DARTCollisionDetector, and dart::collision::BulletCollisionDetector.

Friends And Related Function Documentation

◆ CollisionGroup

friend class CollisionGroup

friend

◆ CollisionObject

friend class CollisionObject

friend

Member Data Documentation

◆ mCollisionObjectManager

std::unique_ptr<CollisionObjectManager> dart::collision::CollisionDetector::mCollisionObjectManager

protected

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ Factory

◆ Registrar

◆ SingletonFactory

Constructor & Destructor Documentation

◆ ~CollisionDetector()

◆ CollisionDetector()

Member Function Documentation

◆ claimCollisionObject()

◆ cloneWithoutCollisionObjects()

◆ collide() [1/2]

◆ collide() [2/2]

◆ createCollisionGroup() [1/2]

◆ createCollisionGroup() [2/2]

◆ createCollisionGroupAsSharedPtr() [1/2]

◆ createCollisionGroupAsSharedPtr() [2/2]

◆ createCollisionObject()

◆ distance() [1/2]

◆ distance() [2/2]

◆ getFactory()

◆ getType()

◆ notifyCollisionObjectDestroying()

◆ raycast()

◆ refreshCollisionObject()

Friends And Related Function Documentation

◆ CollisionGroup

◆ CollisionObject

Member Data Documentation

◆ mCollisionObjectManager