dart::collision Namespace Reference

Namespaces
	detail
	fcl

Classes
class	BulletCollisionDetector
class	BulletCollisionGroup
class	BulletCollisionObject
struct	BulletCollisionShape
class	CollisionDetector
class	CollisionFilter
class	CompositeCollisionFilter
class	BodyNodeCollisionFilter
class	CollisionGroup
class	CollisionObject
struct	CollisionOption
class	CollisionResult
struct	Contact
	Contact information. More...
struct	dContactGeom
class	DARTCollisionDetector
class	DARTCollisionGroup
class	DARTCollisionObject
struct	DistanceFilter
struct	BodyNodeDistanceFilter
struct	DistanceOption
struct	DistanceResult
class	FCLCollisionDetector
class	FCLCollisionGroup
class	FCLCollisionObject
class	FCLTypes
class	OdeCollisionDetector
	OdeCollisionDetector wraps the ODE collision detector. More...
class	OdeCollisionGroup
class	OdeCollisionObject
class	OdeTypes
struct	RaycastOption
struct	RayHit
struct	RaycastResult

Typedefs
typedef double	dVector3[4]
typedef double	dVector4[4]
typedef double	dMatrix3[12]
typedef double	dMatrix4[16]
typedef double	dMatrix6[48]
typedef double	dQuaternion[4]
using	CollisionDetectorPtr = std::shared_ptr< CollisionDetector >
using	ConstCollisionDetectorPtr = std::shared_ptr< const CollisionDetector >
using	WeakCollisionDetectorPtr = std::weak_ptr< CollisionDetector >
using	WeakConstCollisionDetectorPtr = std::weak_ptr< const CollisionDetector >
using	FCLCollisionDetectorPtr = std::shared_ptr< FCLCollisionDetector >
using	ConstFCLCollisionDetectorPtr = std::shared_ptr< const FCLCollisionDetector >
using	WeakFCLCollisionDetectorPtr = std::weak_ptr< FCLCollisionDetector >
using	WeakConstFCLCollisionDetectorPtr = std::weak_ptr< const FCLCollisionDetector >
using	DARTCollisionDetectorPtr = std::shared_ptr< DARTCollisionDetector >
using	ConstDARTCollisionDetectorPtr = std::shared_ptr< const DARTCollisionDetector >
using	WeakDARTCollisionDetectorPtr = std::weak_ptr< DARTCollisionDetector >
using	WeakConstDARTCollisionDetectorPtr = std::weak_ptr< const DARTCollisionDetector >
using	CollisionObjectPtr = std::shared_ptr< CollisionObject >
using	ConstCollisionObjectPtr = std::shared_ptr< const CollisionObject >
using	WeakCollisionObjectPtr = std::weak_ptr< CollisionObject >
using	WeakConstCollisionObjectPtr = std::weak_ptr< const CollisionObject >
using	CollisionGroupPtr = std::shared_ptr< CollisionGroup >
using	ConstCollisionGroupPtr = std::shared_ptr< const CollisionGroup >
using	WeakCollisionGroupPtr = std::weak_ptr< CollisionGroup >
using	WeakConstCollisionGroupPtr = std::weak_ptr< const CollisionGroup >

Functions
static bool	checkGroupValidity (BulletCollisionDetector *cd, CollisionGroup *group)
static bool	isCollision (btCollisionWorld *world)
void	filterOutCollisions (btCollisionWorld *world)
Eigen::Vector3d	convertVector3 (const btVector3 &_vec)
	Convert Bullet vector3 type to Eigen vector3 type. More...
btVector3	convertVector3 (const Eigen::Vector3d &_vec)
	Convert Eigen vector3 type to Bullet vector3 type. More...
btMatrix3x3	convertMatrix3x3 (const Eigen::Matrix3d &_R)
	Convert Bullet matrix3x3 type to Eigen matrix3x3 type. More...
btTransform	convertTransform (const Eigen::Isometry3d &_T)
	Convert Bullet transformation type to Eigen transformation type. More...
void	convVector (const Eigen::Vector3d &p0, dVector3 &p1)
void	convMatrix (const Eigen::Isometry3d &T0, dMatrix3 &R0)
double	Inner (const double *a, const double *b)
double	Inner14 (const double *a, const double *b)
double	Inner41 (const double *a, const double *b)
double	Inner44 (const double *a, const double *b)
void	dMULTIPLY0_331 (double *A, const double *B, const double *C)
void	dMULTIPLY1_331 (double *A, const double *B, const double *C)
void	cullPoints (int n, double p[], int m, int i0, int iret[])
void	dLineClosestApproach (const dVector3 pa, const dVector3 ua, const dVector3 pb, const dVector3 ub, double *alpha, double *beta)
int	intersectRectQuad (double h[2], double p[8], double ret[16])
void	dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2, const dVector3 c, const dMatrix3 R, const dVector3 side, dVector3 lret, dVector3 bret)
int	dBoxBox (CollisionObject *o1, CollisionObject *o2, const dVector3 p1, const dMatrix3 R1, const dVector3 side1, const dVector3 p2, const dMatrix3 R2, const dVector3 side2, CollisionResult &result)
int	collideBoxBox (CollisionObject *o1, CollisionObject *o2, const Eigen::Vector3d &size0, const Eigen::Isometry3d &T0, const Eigen::Vector3d &size1, const Eigen::Isometry3d &T1, CollisionResult &result)
int	collideBoxSphere (CollisionObject *o1, CollisionObject *o2, const Eigen::Vector3d &size0, const Eigen::Isometry3d &T0, const double &r1, const Eigen::Isometry3d &T1, CollisionResult &result)
int	collideSphereBox (CollisionObject *o1, CollisionObject *o2, const double &r0, const Eigen::Isometry3d &T0, const Eigen::Vector3d &size1, const Eigen::Isometry3d &T1, CollisionResult &result)
int	collideSphereSphere (CollisionObject *o1, CollisionObject *o2, const double &_r0, const Eigen::Isometry3d &c0, const double &_r1, const Eigen::Isometry3d &c1, CollisionResult &result)
int	collideCylinderSphere (CollisionObject *o1, CollisionObject *o2, const double &cyl_rad, const double &half_height, const Eigen::Isometry3d &T0, const double &sphere_rad, const Eigen::Isometry3d &T1, CollisionResult &result)
int	collideCylinderPlane (CollisionObject *o1, CollisionObject *o2, const double &cyl_rad, const double &half_height, const Eigen::Isometry3d &T0, const Eigen::Vector3d &plane_normal, const Eigen::Isometry3d &T1, CollisionResult &result)
int	collide (CollisionObject *o1, CollisionObject *o2, CollisionResult &result)
static bool	checkGroupValidity (DARTCollisionDetector *cd, CollisionGroup *group)
void	warnUnsupportedShapeType (const dynamics::ShapeFrame *shapeFrame)
template<class BV >
::fcl::BVHModel< BV > *	createMesh (float _scaleX, float _scaleY, float _scaleZ, const aiScene *_mesh, const dart::collision::fcl::Transform3 &_transform)
template<class BV >
::fcl::BVHModel< BV > *	createEllipsoid (float _sizeX, float _sizeY, float _sizeZ, const dart::collision::fcl::Transform3 &_transform)
template<class BV >
::fcl::BVHModel< BV > *	createCube (float _sizeX, float _sizeY, float _sizeZ, const dart::collision::fcl::Transform3 &_transform)
template<class BV >
::fcl::BVHModel< BV > *	createCylinder (double _baseRadius, double _topRadius, double _height, int _slices, int _stacks, const dart::collision::fcl::Transform3 &_transform)
static bool	checkGroupValidity (FCLCollisionDetector *cd, CollisionGroup *group)
static detail::OdeGeom *	createOdeGeom (OdeCollisionObject *collObj, const dynamics::ShapeFrame *shapeFrame)

Variables
static const int	MAX_CYLBOX_CLIP_POINTS = 16
static const int	nCYLINDER_AXIS = 2
static const int	nCYLINDER_SEGMENT = 8

Typedef Documentation

CollisionDetectorPtr

using dart::collision::CollisionDetectorPtr = typedef std::shared_ptr< CollisionDetector >

CollisionGroupPtr

using dart::collision::CollisionGroupPtr = typedef std::shared_ptr< CollisionGroup >

CollisionObjectPtr

using dart::collision::CollisionObjectPtr = typedef std::shared_ptr< CollisionObject >

ConstCollisionDetectorPtr

using dart::collision::ConstCollisionDetectorPtr = typedef std::shared_ptr<const CollisionDetector >

ConstCollisionGroupPtr

using dart::collision::ConstCollisionGroupPtr = typedef std::shared_ptr<const CollisionGroup >

ConstCollisionObjectPtr

using dart::collision::ConstCollisionObjectPtr = typedef std::shared_ptr<const CollisionObject >

ConstDARTCollisionDetectorPtr

using dart::collision::ConstDARTCollisionDetectorPtr = typedef std::shared_ptr<const DARTCollisionDetector >

ConstFCLCollisionDetectorPtr

using dart::collision::ConstFCLCollisionDetectorPtr = typedef std::shared_ptr<const FCLCollisionDetector >

DARTCollisionDetectorPtr

using dart::collision::DARTCollisionDetectorPtr = typedef std::shared_ptr< DARTCollisionDetector >

dMatrix3

typedef double dart::collision::dMatrix3[12]

dMatrix4

typedef double dart::collision::dMatrix4[16]

dMatrix6

typedef double dart::collision::dMatrix6[48]

dQuaternion

typedef double dart::collision::dQuaternion[4]

dVector3

typedef double dart::collision::dVector3

dVector4

typedef double dart::collision::dVector4[4]

FCLCollisionDetectorPtr

using dart::collision::FCLCollisionDetectorPtr = typedef std::shared_ptr< FCLCollisionDetector >

WeakCollisionDetectorPtr

using dart::collision::WeakCollisionDetectorPtr = typedef std::weak_ptr< CollisionDetector >

WeakCollisionGroupPtr

using dart::collision::WeakCollisionGroupPtr = typedef std::weak_ptr< CollisionGroup >

WeakCollisionObjectPtr

using dart::collision::WeakCollisionObjectPtr = typedef std::weak_ptr< CollisionObject >

WeakConstCollisionDetectorPtr

using dart::collision::WeakConstCollisionDetectorPtr = typedef std::weak_ptr<const CollisionDetector >

WeakConstCollisionGroupPtr

using dart::collision::WeakConstCollisionGroupPtr = typedef std::weak_ptr<const CollisionGroup >

WeakConstCollisionObjectPtr

using dart::collision::WeakConstCollisionObjectPtr = typedef std::weak_ptr<const CollisionObject >

WeakConstDARTCollisionDetectorPtr

using dart::collision::WeakConstDARTCollisionDetectorPtr = typedef std::weak_ptr<const DARTCollisionDetector >

WeakConstFCLCollisionDetectorPtr

using dart::collision::WeakConstFCLCollisionDetectorPtr = typedef std::weak_ptr<const FCLCollisionDetector >

WeakDARTCollisionDetectorPtr

using dart::collision::WeakDARTCollisionDetectorPtr = typedef std::weak_ptr< DARTCollisionDetector >

WeakFCLCollisionDetectorPtr

using dart::collision::WeakFCLCollisionDetectorPtr = typedef std::weak_ptr< FCLCollisionDetector >

Function Documentation

checkGroupValidity() [1/3]

static bool dart::collision::checkGroupValidity ( BulletCollisionDetector *  cd, CollisionGroup *  group  )

static

checkGroupValidity() [2/3]

static bool dart::collision::checkGroupValidity ( DARTCollisionDetector *  cd, CollisionGroup *  group  )

static

checkGroupValidity() [3/3]

static bool dart::collision::checkGroupValidity ( FCLCollisionDetector *  cd, CollisionGroup *  group  )

static

collide()

int dart::collision::collide	(	CollisionObject *	o1,
		CollisionObject *	o2,
		CollisionResult &	result
	)

collideBoxBox()

int dart::collision::collideBoxBox	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const Eigen::Vector3d &	size0,
		const Eigen::Isometry3d &	T0,
		const Eigen::Vector3d &	size1,
		const Eigen::Isometry3d &	T1,
		CollisionResult &	result
	)

collideBoxSphere()

int dart::collision::collideBoxSphere	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const Eigen::Vector3d &	size0,
		const Eigen::Isometry3d &	T0,
		const double &	r1,
		const Eigen::Isometry3d &	T1,
		CollisionResult &	result
	)

collideCylinderPlane()

int dart::collision::collideCylinderPlane	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const double &	cyl_rad,
		const double &	half_height,
		const Eigen::Isometry3d &	T0,
		const Eigen::Vector3d &	plane_normal,
		const Eigen::Isometry3d &	T1,
		CollisionResult &	result
	)

collideCylinderSphere()

int dart::collision::collideCylinderSphere	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const double &	cyl_rad,
		const double &	half_height,
		const Eigen::Isometry3d &	T0,
		const double &	sphere_rad,
		const Eigen::Isometry3d &	T1,
		CollisionResult &	result
	)

collideSphereBox()

int dart::collision::collideSphereBox	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const double &	r0,
		const Eigen::Isometry3d &	T0,
		const Eigen::Vector3d &	size1,
		const Eigen::Isometry3d &	T1,
		CollisionResult &	result
	)

collideSphereSphere()

int dart::collision::collideSphereSphere	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const double &	_r0,
		const Eigen::Isometry3d &	c0,
		const double &	_r1,
		const Eigen::Isometry3d &	c1,
		CollisionResult &	result
	)

convertMatrix3x3()

btMatrix3x3 dart::collision::convertMatrix3x3

(

const Eigen::Matrix3d &

_R

)

Convert Bullet matrix3x3 type to Eigen matrix3x3 type.

convertTransform()

btTransform dart::collision::convertTransform

(

const Eigen::Isometry3d &

_T

)

Convert Bullet transformation type to Eigen transformation type.

convertVector3() [1/2]

Eigen::Vector3d dart::collision::convertVector3

(

const btVector3 &

_vec

)

Convert Bullet vector3 type to Eigen vector3 type.

convertVector3() [2/2]

btVector3 dart::collision::convertVector3

(

const Eigen::Vector3d &

_vec

)

Convert Eigen vector3 type to Bullet vector3 type.

convMatrix()

void dart::collision::convMatrix ( const Eigen::Isometry3d &  T0, dMatrix3 &  R0  )

inline

convVector()

void dart::collision::convVector ( const Eigen::Vector3d &  p0, dVector3 &  p1  )

inline

createCube()

template<class BV >

::fcl::BVHModel<BV>* dart::collision::createCube	(	float	_sizeX,
		float	_sizeY,
		float	_sizeZ,
		const dart::collision::fcl::Transform3 &	_transform
	)

createCylinder()

template<class BV >

::fcl::BVHModel<BV>* dart::collision::createCylinder	(	double	_baseRadius,
		double	_topRadius,
		double	_height,
		int	_slices,
		int	_stacks,
		const dart::collision::fcl::Transform3 &	_transform
	)

createEllipsoid()

template<class BV >

::fcl::BVHModel<BV>* dart::collision::createEllipsoid	(	float	_sizeX,
		float	_sizeY,
		float	_sizeZ,
		const dart::collision::fcl::Transform3 &	_transform
	)

createMesh()

template<class BV >

::fcl::BVHModel<BV>* dart::collision::createMesh	(	float	_scaleX,
		float	_scaleY,
		float	_scaleZ,
		const aiScene *	_mesh,
		const dart::collision::fcl::Transform3 &	_transform
	)

createOdeGeom()

detail::OdeGeom * dart::collision::createOdeGeom ( OdeCollisionObject *  collObj, const dynamics::ShapeFrame *  shapeFrame  )

static

cullPoints()

void dart::collision::cullPoints	(	int	n,
		double	p[],
		int	m,
		int	i0,
		int	iret[]
	)

dBoxBox()

int dart::collision::dBoxBox	(	CollisionObject *	o1,
		CollisionObject *	o2,
		const dVector3	p1,
		const dMatrix3	R1,
		const dVector3	side1,
		const dVector3	p2,
		const dMatrix3	R2,
		const dVector3	side2,
		CollisionResult &	result
	)

dClosestLineBoxPoints()

void dart::collision::dClosestLineBoxPoints	(	const dVector3	p1,
		const dVector3	p2,
		const dVector3	c,
		const dMatrix3	R,
		const dVector3	side,
		dVector3	lret,
		dVector3	bret
	)

dLineClosestApproach()

void dart::collision::dLineClosestApproach	(	const dVector3	pa,
		const dVector3	ua,
		const dVector3	pb,
		const dVector3	ub,
		double *	alpha,
		double *	beta
	)

dMULTIPLY0_331()

void dart::collision::dMULTIPLY0_331 ( double *  A, const double *  B, const double *  C  )

inline

dMULTIPLY1_331()

void dart::collision::dMULTIPLY1_331 ( double *  A, const double *  B, const double *  C  )

inline

filterOutCollisions()

void dart::collision::filterOutCollisions

(

btCollisionWorld *

world

)

Inner()

double dart::collision::Inner ( const double *  a, const double *  b  )

inline

Inner14()

double dart::collision::Inner14 ( const double *  a, const double *  b  )

inline

Inner41()

double dart::collision::Inner41 ( const double *  a, const double *  b  )

inline

Inner44()

double dart::collision::Inner44 ( const double *  a, const double *  b  )

inline

intersectRectQuad()

int dart::collision::intersectRectQuad	(	double	h[2],
		double	p[8],
		double	ret[16]
	)

isCollision()

static bool dart::collision::isCollision ( btCollisionWorld *  world )

static

warnUnsupportedShapeType()

void dart::collision::warnUnsupportedShapeType

(

const dynamics::ShapeFrame *

shapeFrame

)

Variable Documentation

MAX_CYLBOX_CLIP_POINTS

const int dart::collision::MAX_CYLBOX_CLIP_POINTS = 16

static

nCYLINDER_AXIS

const int dart::collision::nCYLINDER_AXIS = 2

static

nCYLINDER_SEGMENT

const int dart::collision::nCYLINDER_SEGMENT = 8

static