dart::collision::DARTCollisionDetector Class Reference

#include <DARTCollisionDetector.hpp>

Inheritance diagram for dart::collision::DARTCollisionDetector:

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
std::shared_ptr< CollisionDetector >	cloneWithoutCollisionObjects () const override
	Create a clone of this CollisionDetector. More...
const std::string &	getType () const override
	Return collision detection engine type as a std::string. More...
std::unique_ptr< CollisionGroup >	createCollisionGroup () override
	Create a collision group. More...
bool	collide (CollisionGroup *group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
	Perform collision check for a single group. More...
bool	collide (CollisionGroup *group1, CollisionGroup *group2, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
	Perform collision check for two groups. More...
double	distance (CollisionGroup *group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
	Get the minimum signed distance between the Shape pairs in the given CollisionGroup. More...
double	distance (CollisionGroup *group1, CollisionGroup *group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
	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 std::unique_ptr< CollisionGroup >	createCollisionGroup ()=0
	Create a collision group. 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::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...
std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr ()
	Helper function that creates and returns CollisionGroup as a shared_ptr. 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	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 std::shared_ptr< DARTCollisionDetector >	create ()
static const std::string &	getStaticType ()
	Get collision detector type for this class. More...
static Factory *	getFactory ()
	Returns the singleton factory. More...

Protected Member Functions
	DARTCollisionDetector ()
	Constructor. More...
std::unique_ptr< CollisionObject >	createCollisionObject (const dynamics::ShapeFrame *shapeFrame) override
	Create CollisionObject. More...
void	refreshCollisionObject (CollisionObject *object) override
	Update the collision geometry of a ShapeFrame. More...
std::shared_ptr< CollisionObject >	claimCollisionObject (const dynamics::ShapeFrame *shapeFrame)
	Claim CollisionObject associated with 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

Static Private Attributes
static Registrar< DARTCollisionDetector >	mRegistrar

Member Typedef Documentation

Factory

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

inherited

Registrar

template<typename Derived >

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

inherited

SingletonFactory

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

inherited

Constructor & Destructor Documentation

DARTCollisionDetector()

dart::collision::DARTCollisionDetector::DARTCollisionDetector ( )

protected

Constructor.

Member Function Documentation

claimCollisionObject()

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

protectedinherited

Claim CollisionObject associated with shapeFrame.

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

cloneWithoutCollisionObjects()

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

overridevirtual

Create a clone of this CollisionDetector.

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

Implements dart::collision::CollisionDetector.

collide() [1/2]

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

overridevirtual

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.

Implements dart::collision::CollisionDetector.

collide() [2/2]

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

overridevirtual

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.

Implements dart::collision::CollisionDetector.

create()

std::shared_ptr< DARTCollisionDetector > dart::collision::DARTCollisionDetector::create ( )

static

createCollisionGroup() [1/4]

std::unique_ptr< CollisionGroup > dart::collision::DARTCollisionDetector::createCollisionGroup ( )

overridevirtual

Create a collision group.

Implements dart::collision::CollisionDetector.

createCollisionGroup() [2/4]

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

virtual

Create a collision group.

Implements dart::collision::CollisionDetector.

createCollisionGroup() [3/4]

template<typename... Args>

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

inherited

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.

createCollisionGroup() [4/4]

template<typename... Args>

std::unique_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroup

(

typename...

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 ( )

inherited

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 )

inherited

Helper function that creates and returns CollisionGroup as shared_ptr.

createCollisionObject()

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

overrideprotectedvirtual

Create CollisionObject.

Implements dart::collision::CollisionDetector.

distance() [1/2]

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

overridevirtual

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.

Implements dart::collision::CollisionDetector.

distance() [2/2]

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

overridevirtual

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.

Implements dart::collision::CollisionDetector.

getFactory()

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

staticinherited

Returns the singleton factory.

getStaticType()

const std::string & dart::collision::DARTCollisionDetector::getStaticType ( )

static

Get collision detector type for this class.

getType()

const std::string & dart::collision::DARTCollisionDetector::getType ( ) const

overridevirtual

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

Implements dart::collision::CollisionDetector.

notifyCollisionObjectDestroying()

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

protectedvirtualinherited

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  )

virtualinherited

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()

void dart::collision::DARTCollisionDetector::refreshCollisionObject ( CollisionObject *  object )

overrideprotectedvirtual

Update the collision geometry of a ShapeFrame.

Implements dart::collision::CollisionDetector.

Member Data Documentation

mCollisionObjectManager

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

protectedinherited

mRegistrar

DARTCollisionDetector::Registrar< DARTCollisionDetector > dart::collision::DARTCollisionDetector::mRegistrar

staticprivate

Initial value:

{
        DARTCollisionDetector::getStaticType(),
        []() -> std::shared_ptr<dart::collision::DARTCollisionDetector> {
          return dart::collision::DARTCollisionDetector::create();
        }}