#include <FCLCollisionGroup.hpp>

Inheritance diagram for dart::collision::FCLCollisionGroup:

Public Types
using	FCLCollisionManager = dart::collision::fcl::DynamicAABBTreeCollisionManager

Public Member Functions
	FCLCollisionGroup (const CollisionDetectorPtr &collisionDetector)
	Constructor. More...

virtual	~FCLCollisionGroup ()=default
	Destructor. More...

CollisionDetectorPtr	getCollisionDetector ()
	Return collision detection engine associated with this CollisionGroup. More...

ConstCollisionDetectorPtr	getCollisionDetector () const
	Return (const) collision detection engine associated with this CollisionGroup. More...

void	addShapeFrame (const dynamics::ShapeFrame *shapeFrame)
	Add a ShapeFrame to this CollisionGroup. More...

void	addShapeFrames (const std::vector< const dynamics::ShapeFrame * > &shapeFrames)
	Add ShapeFrames to this CollisionGroup. More...

template<typename... Others>
void	addShapeFramesOf (const dynamics::ShapeFrame shapeFrame, const Others ... others)
	Add a ShapeFrame, and also add ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const std::vector< const dynamics::ShapeFrame * > &shapeFrames, const Others *... others)
	Add ShapeFrames, and also add ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const CollisionGroup otherGroup, const Others ... others)
	Add ShapeFrames of other CollisionGroup, and also add another ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const dynamics::BodyNode bodyNode, const Others ... others)
	Add ShapeFrames of BodyNode, and also add another ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const dynamics::MetaSkeleton skeleton, const Others ... others)
	Add ShapeFrames of MetaSkeleton, and also add another ShapeFrames of other various objects. More...

void	addShapeFramesOf ()
	Do nothing. More...

template<typename... Others>
void	subscribeTo (const dynamics::ConstBodyNodePtr &bodyNode, const Others &... others)
	Add ShapeFrames of bodyNode, and also subscribe to the BodyNode so that the results from this CollisionGroup automatically reflect any changes that are made to bodyNode. More...

template<typename... Others>
void	subscribeTo (const dynamics::ConstSkeletonPtr &skeleton, const Others &... others)
	Add ShapeFrames of skeleton, and also subscribe to the Skeleton so that the results from this CollisionGroup automatically reflect any changes that are made to skeleton. More...

void	subscribeTo ()
	Do nothing. More...

void	removeShapeFrame (const dynamics::ShapeFrame *shapeFrame)
	Remove a ShapeFrame from this CollisionGroup. More...

void	removeShapeFrames (const std::vector< const dynamics::ShapeFrame * > &shapeFrames)
	Remove ShapeFrames from this CollisionGroup. More...

template<typename... Others>
void	removeShapeFramesOf (const dynamics::ShapeFrame shapeFrame, const Others ... others)
	Remove a ShapeFrame, and also remove ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const std::vector< const dynamics::ShapeFrame * > &shapeFrames, const Others *... others)
	Remove ShapeFrames, and also remove ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const CollisionGroup otherGroup, const Others ... others)
	Remove ShapeFrames of other CollisionGroup, and also remove another ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const dynamics::BodyNode bodyNode, const Others ... others)
	Remove ShapeFrames of BodyNode, and also remove another ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const dynamics::MetaSkeleton skeleton, const Others ... others)
	Remove ShapeFrames of MetaSkeleton, and also remove another ShapeFrames of other various objects. More...

void	removeShapeFramesOf ()
	Do nothing. More...

void	removeAllShapeFrames ()
	Remove all the ShapeFrames in this CollisionGroup. More...

template<typename... Others>
void	unsubscribeFrom (const dynamics::BodyNode bodyNode, const Others ... others)
	Unsubscribe from bodyNode. More...

template<typename... Others>
void	unsubscribeFrom (const dynamics::Skeleton skeleton, const Others ... others)
	Unsubscribe from skeleton. More...

bool	hasShapeFrame (const dynamics::ShapeFrame *shapeFrame) const
	Return true if this CollisionGroup contains shapeFrame. More...

std::size_t	getNumShapeFrames () const
	Return number of ShapeFrames added to this CollisionGroup. More...

const dynamics::ShapeFrame *	getShapeFrame (std::size_t index) const
	Get the ShapeFrame corresponding to the given index. More...

bool	collide (const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr)
	Perform collision check within this CollisionGroup. More...

bool	collide (CollisionGroup otherGroup, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr)
	Perform collision check with other CollisionGroup. More...

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

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

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

void	setAutomaticUpdate (bool automatic=true)
	Set whether this CollisionGroup will automatically check for updates. More...

bool	getAutomaticUpdate () const
	Get whether this CollisionGroup is set to automatically check for updates. More...

void	update ()
	Check whether this CollisionGroup's subscriptions or any of its objects need an update, and then update them if they do. More...

void	removeDeletedShapeFrames ()
	Remove any ShapeFrames that have been deleted. More...

Protected Types
using	ObjectInfoList = std::vector< std::unique_ptr< ObjectInfo > >

Protected Member Functions
void	initializeEngineData () override
	Initialize the collision detection engine data such as broadphase algorithm. More...

void	addCollisionObjectToEngine (CollisionObject *object) override
	Add CollisionObject to the collision detection engine. More...

void	addCollisionObjectsToEngine (const std::vector< CollisionObject * > &collObjects) override
	Add CollisionObjects to the collision detection engine. More...

void	removeCollisionObjectFromEngine (CollisionObject *object) override
	Remove CollisionObject from the collision detection engine. More...

void	removeAllCollisionObjectsFromEngine () override
	Remove all the CollisionObjects from the collision detection engine. More...

void	updateCollisionGroupEngineData () override
	Update the collision detection engine data such as broadphase algorithm. More...

FCLCollisionManager *	getFCLCollisionManager ()
	Return FCL collision manager that is also a broad-phase algorithm. More...

const FCLCollisionManager *	getFCLCollisionManager () const
	Return FCL collision manager that is also a broad-phase algorithm. More...

void	updateEngineData ()
	Update engine data. More...

Protected Attributes
std::unique_ptr< FCLCollisionManager >	mBroadPhaseAlg
	FCL broad-phase algorithm. More...

CollisionDetectorPtr	mCollisionDetector
	Collision detector. More...

ObjectInfoList	mObjectInfoList
	Information about ShapeFrames and CollisionObjects that have been added to this CollisionGroup. More...

Private Types
using	SkeletonSource = CollisionSource< dynamics::WeakConstMetaSkeletonPtr, dynamics::BodyNode >

using	SkeletonSources = std::unordered_map< const dynamics::MetaSkeleton *, SkeletonSource >

using	BodyNodeSource = CollisionSource< dynamics::WeakConstBodyNodePtr >

using	BodyNodeSources = std::unordered_map< const dynamics::BodyNode *, BodyNodeSource >

Private Member Functions
ObjectInfo *	addShapeFrameImpl (const dynamics::ShapeFrame shapeFrame, const void source)
	Implementation of addShapeFrame. More...

void	removeShapeFrameInternal (const dynamics::ShapeFrame shapeFrame, const void source)
	Internal version of removeShapeFrame. More...

bool	updateSkeletonSource (SkeletonSources::value_type &entry)
	Internal function called to update a Skeleton source. More...

bool	updateBodyNodeSource (BodyNodeSources::value_type &entry)
	Internal function called to update a BodyNode source. More...

bool	updateShapeFrame (ObjectInfo *object)
	Internal function called to update a ShapeFrame. More...

Private Attributes
bool	mUpdateAutomatically
	Set this to true to have this CollisionGroup check for updates automatically. More...

SkeletonSources	mSkeletonSources
	Skeleton sources that this group is subscribed to. More...

BodyNodeSources	mBodyNodeSources
	BodyNode sources that this group is susbscribed to. More...

ShapeFrameObserver	mObserver
	The object that observes the Shape Frames that this group cares about. More...

Friends
class	FCLCollisionDetector

Member Typedef Documentation

◆ BodyNodeSource

using dart::collision::CollisionGroup::BodyNodeSource = CollisionSource<dynamics::WeakConstBodyNodePtr>

privateinherited

◆ BodyNodeSources

using dart::collision::CollisionGroup::BodyNodeSources = std::unordered_map<const dynamics::BodyNode*, BodyNodeSource>

privateinherited

◆ FCLCollisionManager

using dart::collision::FCLCollisionGroup::FCLCollisionManager = dart::collision::fcl::DynamicAABBTreeCollisionManager

◆ ObjectInfoList

using dart::collision::CollisionGroup::ObjectInfoList = std::vector<std::unique_ptr<ObjectInfo> >

protectedinherited

◆ SkeletonSource

using dart::collision::CollisionGroup::SkeletonSource = CollisionSource<dynamics::WeakConstMetaSkeletonPtr, dynamics::BodyNode>

privateinherited

◆ SkeletonSources

using dart::collision::CollisionGroup::SkeletonSources = std::unordered_map<const dynamics::MetaSkeleton*, SkeletonSource>

privateinherited

Constructor & Destructor Documentation

◆ FCLCollisionGroup()

dart::collision::FCLCollisionGroup::FCLCollisionGroup ( const CollisionDetectorPtr & collisionDetector )

Constructor.

◆ ~FCLCollisionGroup()

virtual dart::collision::FCLCollisionGroup::~FCLCollisionGroup ( )

virtualdefault

Destructor.

Member Function Documentation

◆ addCollisionObjectsToEngine()

void dart::collision::FCLCollisionGroup::addCollisionObjectsToEngine ( const std::vector< CollisionObject * > & collObjects )

overrideprotectedvirtual

Add CollisionObjects to the collision detection engine.

Implements dart::collision::CollisionGroup.

◆ addCollisionObjectToEngine()

void dart::collision::FCLCollisionGroup::addCollisionObjectToEngine ( CollisionObject * object )

overrideprotectedvirtual

Add CollisionObject to the collision detection engine.

Implements dart::collision::CollisionGroup.

◆ addShapeFrame()

void dart::collision::CollisionGroup::addShapeFrame ( const dynamics::ShapeFrame * shapeFrame )

inherited

Add a ShapeFrame to this CollisionGroup.

◆ addShapeFrameImpl()

auto dart::collision::CollisionGroup::addShapeFrameImpl	(	const dynamics::ShapeFrame *	shapeFrame,
		const void *	source
	)

privateinherited

Implementation of addShapeFrame.

The source argument tells us whether this ShapeFrame is being requested explicitly by the user or implicitly through a BodyNode, Skeleton, or other CollisionGroup.

◆ addShapeFrames()

void dart::collision::CollisionGroup::addShapeFrames ( const std::vector< const dynamics::ShapeFrame * > & shapeFrames )

inherited

Add ShapeFrames to this CollisionGroup.

◆ addShapeFramesOf() [1/6]

void dart::collision::CollisionGroup::addShapeFramesOf ( )

inherited

Do nothing.

This function is for terminating the recursive variadic template function template<typename...> addShapeFramesOf().

◆ addShapeFramesOf() [2/6]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const CollisionGroup *	otherGroup,
		const Others *...	others
	)

inherited

Add ShapeFrames of other CollisionGroup, and also add another ShapeFrames of other various objects.

◆ addShapeFramesOf() [3/6]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const dynamics::BodyNode *	bodyNode,
		const Others *...	others
	)

inherited

Add ShapeFrames of BodyNode, and also add another ShapeFrames of other various objects.

◆ addShapeFramesOf() [4/6]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const dynamics::MetaSkeleton *	skeleton,
		const Others *...	others
	)

inherited

Add ShapeFrames of MetaSkeleton, and also add another ShapeFrames of other various objects.

◆ addShapeFramesOf() [5/6]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const dynamics::ShapeFrame *	shapeFrame,
		const Others *...	others
	)

inherited

Add a ShapeFrame, and also add ShapeFrames of other various objects.

The other various 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 of this function is called. The aftwerward changes of the objects does not affect on this CollisionGroup.

◆ addShapeFramesOf() [6/6]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const std::vector< const dynamics::ShapeFrame * > &	shapeFrames,
		const Others *...	others
	)

inherited

Add ShapeFrames, and also add ShapeFrames of other various objects.

◆ collide() [1/2]

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

inherited

Perform collision check with other CollisionGroup.

Return false if the engine type of the other CollisionGroup is different from this CollisionObject engine.

◆ collide() [2/2]

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

inherited

Perform collision check within this CollisionGroup.

◆ distance() [1/2]

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

inherited

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

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.

◆ distance() [2/2]

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

inherited

Get the minimum signed distance between the Shape pairs in this 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.

◆ getAutomaticUpdate()

bool dart::collision::CollisionGroup::getAutomaticUpdate ( ) const

inherited

Get whether this CollisionGroup is set to automatically check for updates.

◆ getCollisionDetector() [1/2]

CollisionDetectorPtr dart::collision::CollisionGroup::getCollisionDetector ( )

inherited

Return collision detection engine associated with this CollisionGroup.

◆ getCollisionDetector() [2/2]

ConstCollisionDetectorPtr dart::collision::CollisionGroup::getCollisionDetector ( ) const

inherited

Return (const) collision detection engine associated with this CollisionGroup.

◆ getFCLCollisionManager() [1/2]

FCLCollisionGroup::FCLCollisionManager * dart::collision::FCLCollisionGroup::getFCLCollisionManager ( )

protected

Return FCL collision manager that is also a broad-phase algorithm.

◆ getFCLCollisionManager() [2/2]

const FCLCollisionGroup::FCLCollisionManager * dart::collision::FCLCollisionGroup::getFCLCollisionManager ( ) const

protected

Return FCL collision manager that is also a broad-phase algorithm.

◆ getNumShapeFrames()

std::size_t dart::collision::CollisionGroup::getNumShapeFrames ( ) const

inherited

Return number of ShapeFrames added to this CollisionGroup.

◆ getShapeFrame()

const dynamics::ShapeFrame * dart::collision::CollisionGroup::getShapeFrame ( std::size_t index ) const

inherited

Get the ShapeFrame corresponding to the given index.

◆ hasShapeFrame()

bool dart::collision::CollisionGroup::hasShapeFrame ( const dynamics::ShapeFrame * shapeFrame ) const

inherited

Return true if this CollisionGroup contains shapeFrame.

◆ initializeEngineData()

void dart::collision::FCLCollisionGroup::initializeEngineData ( )

overrideprotectedvirtual

Initialize the collision detection engine data such as broadphase algorithm.

This function will be called whenever ShapeFrame is either added to or removed from this CollisionGroup.

Implements dart::collision::CollisionGroup.

◆ raycast()

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

inherited

Performs raycast to this collision group.

Parameters

[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.

◆ removeAllCollisionObjectsFromEngine()

void dart::collision::FCLCollisionGroup::removeAllCollisionObjectsFromEngine ( )

overrideprotectedvirtual

Remove all the CollisionObjects from the collision detection engine.

Implements dart::collision::CollisionGroup.

◆ removeAllShapeFrames()

void dart::collision::CollisionGroup::removeAllShapeFrames ( )

inherited

Remove all the ShapeFrames in this CollisionGroup.

◆ removeCollisionObjectFromEngine()

void dart::collision::FCLCollisionGroup::removeCollisionObjectFromEngine ( CollisionObject * object )

overrideprotectedvirtual

Remove CollisionObject from the collision detection engine.

Implements dart::collision::CollisionGroup.

◆ removeDeletedShapeFrames()

void dart::collision::CollisionGroup::removeDeletedShapeFrames ( )

inherited

Remove any ShapeFrames that have been deleted.

This will be done automatically for ShapeFrames that belong to subscriptions.

Returns true if one or more ShapeFrames were removed; otherwise returns false.

◆ removeShapeFrame()

void dart::collision::CollisionGroup::removeShapeFrame ( const dynamics::ShapeFrame * shapeFrame )

inherited

Remove a ShapeFrame from this CollisionGroup.

If this ShapeFrame was being provided by any subscriptions, then calling this function will unsubscribe from those subscriptions, because otherwise this ShapeFrame would simply be put back into the CollisionGroup the next time the group gets updated.

◆ removeShapeFrameInternal()

void dart::collision::CollisionGroup::removeShapeFrameInternal	(	const dynamics::ShapeFrame *	shapeFrame,
		const void *	source
	)

privateinherited

Internal version of removeShapeFrame.

This will only remove the ShapeFrame if it is unsubscribed from all sources.

◆ removeShapeFrames()

void dart::collision::CollisionGroup::removeShapeFrames ( const std::vector< const dynamics::ShapeFrame * > & shapeFrames )

inherited

Remove ShapeFrames from this CollisionGroup.

◆ removeShapeFramesOf() [1/6]

void dart::collision::CollisionGroup::removeShapeFramesOf ( )

inherited

Do nothing.

This function is for terminating the recursive variadic template function template<typename...> removeShapeFramesOf().

◆ removeShapeFramesOf() [2/6]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const CollisionGroup *	otherGroup,
		const Others *...	others
	)

inherited

Remove ShapeFrames of other CollisionGroup, and also remove another ShapeFrames of other various objects.

If this CollisionGroup is subscribed to otherGroup, then this function will also unsubscribe from it.

◆ removeShapeFramesOf() [3/6]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const dynamics::BodyNode *	bodyNode,
		const Others *...	others
	)

inherited

Remove ShapeFrames of BodyNode, and also remove another ShapeFrames of other various objects.

If this CollisionGroup is subscribed to bodyNode, then this function will also unsubscribe from it.

◆ removeShapeFramesOf() [4/6]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const dynamics::MetaSkeleton *	skeleton,
		const Others *...	others
	)

inherited

Remove ShapeFrames of MetaSkeleton, and also remove another ShapeFrames of other various objects.

If this CollisionGroup is subscribed to skeleton, then this function will also unsubscribe from it.

◆ removeShapeFramesOf() [5/6]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const dynamics::ShapeFrame *	shapeFrame,
		const Others *...	others
	)

inherited

Remove a ShapeFrame, and also remove ShapeFrames of other various objects.

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

Note that this function removes only the ShapeFrames of each object at the moment of this function is called. The aftwerward changes of the objects does not affect on this CollisionGroup.

◆ removeShapeFramesOf() [6/6]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const std::vector< const dynamics::ShapeFrame * > &	shapeFrames,
		const Others *...	others
	)

inherited

Remove ShapeFrames, and also remove ShapeFrames of other various objects.

◆ setAutomaticUpdate()

void dart::collision::CollisionGroup::setAutomaticUpdate ( bool automatic = true )

inherited

Set whether this CollisionGroup will automatically check for updates.

◆ subscribeTo() [1/3]

void dart::collision::CollisionGroup::subscribeTo ( )

inherited

Do nothing.

This function is for terminating the recursive variadic template.

◆ subscribeTo() [2/3]

template<typename... Others>

void dart::collision::CollisionGroup::subscribeTo	(	const dynamics::ConstBodyNodePtr &	bodyNode,
		const Others &...	others
	)

inherited

Add ShapeFrames of bodyNode, and also subscribe to the BodyNode so that the results from this CollisionGroup automatically reflect any changes that are made to bodyNode.

This does likewise for the objects in ...others.

◆ subscribeTo() [3/3]

template<typename... Others>

void dart::collision::CollisionGroup::subscribeTo	(	const dynamics::ConstSkeletonPtr &	skeleton,
		const Others &...	others
	)

inherited

Add ShapeFrames of skeleton, and also subscribe to the Skeleton so that the results from this CollisionGroup automatically reflect any changes that are made to skeleton.

This does likewise for the objects in ...others.

◆ unsubscribeFrom() [1/2]

template<typename... Others>

void dart::collision::CollisionGroup::unsubscribeFrom	(	const dynamics::BodyNode *	bodyNode,
		const Others *...	others
	)

inherited

Unsubscribe from bodyNode.

The ShapeFrames of the BodyNode will also be removed if no other source is requesting them for this group.

◆ unsubscribeFrom() [2/2]

template<typename... Others>

void dart::collision::CollisionGroup::unsubscribeFrom	(	const dynamics::Skeleton *	skeleton,
		const Others *...	others
	)

inherited

Unsubscribe from skeleton.

The ShapeFrames of the skeleton will also be removed if no other source is requesting them for this group.

◆ update()

void dart::collision::CollisionGroup::update ( )

inherited

Check whether this CollisionGroup's subscriptions or any of its objects need an update, and then update them if they do.

If automatic updating is turned on, then this will be called each time collide() is.

This can be called manually in order to control when collision objects get created or destroyed. Those procedures can be time-consuming, so it may be useful to control when it occurs.

◆ updateBodyNodeSource()

bool dart::collision::CollisionGroup::updateBodyNodeSource ( BodyNodeSources::value_type & entry )

privateinherited

Internal function called to update a BodyNode source.

Returns: true if an update was performed

◆ updateCollisionGroupEngineData()

void dart::collision::FCLCollisionGroup::updateCollisionGroupEngineData ( )

overrideprotectedvirtual

Update the collision detection engine data such as broadphase algorithm.

This function will be called ahead of every collision checking.

Implements dart::collision::CollisionGroup.

◆ updateEngineData()

void dart::collision::CollisionGroup::updateEngineData

protected

Update engine data.

This function should be called before the collision detection is performed by the engine in most cases.

◆ updateShapeFrame()

bool dart::collision::CollisionGroup::updateShapeFrame ( ObjectInfo * object )

privateinherited

Internal function called to update a ShapeFrame.

Returns: true if an update was performed

◆ updateSkeletonSource()

bool dart::collision::CollisionGroup::updateSkeletonSource ( SkeletonSources::value_type & entry )

privateinherited

Internal function called to update a Skeleton source.

Returns: true if an update was performed

Friends And Related Function Documentation

◆ FCLCollisionDetector

friend class FCLCollisionDetector

friend

Member Data Documentation

◆ mBodyNodeSources

BodyNodeSources dart::collision::CollisionGroup::mBodyNodeSources

privateinherited

BodyNode sources that this group is susbscribed to.

◆ mBroadPhaseAlg

std::unique_ptr<FCLCollisionManager> dart::collision::FCLCollisionGroup::mBroadPhaseAlg

protected

FCL broad-phase algorithm.

◆ mCollisionDetector

CollisionDetectorPtr dart::collision::CollisionGroup::mCollisionDetector

protectedinherited

Collision detector.

◆ mObjectInfoList

ObjectInfoList dart::collision::CollisionGroup::mObjectInfoList

protectedinherited

Information about ShapeFrames and CollisionObjects that have been added to this CollisionGroup.

◆ mObserver

ShapeFrameObserver dart::collision::CollisionGroup::mObserver

privateinherited

The object that observes the Shape Frames that this group cares about.

◆ mSkeletonSources

SkeletonSources dart::collision::CollisionGroup::mSkeletonSources

privateinherited

Skeleton sources that this group is subscribed to.

◆ mUpdateAutomatically

bool dart::collision::CollisionGroup::mUpdateAutomatically

privateinherited

Set this to true to have this CollisionGroup check for updates automatically.

Default is true.

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Friends

Member Typedef Documentation

◆ BodyNodeSource

◆ BodyNodeSources

◆ FCLCollisionManager

◆ ObjectInfoList

◆ SkeletonSource

◆ SkeletonSources

Constructor & Destructor Documentation

◆ FCLCollisionGroup()

◆ ~FCLCollisionGroup()

Member Function Documentation

◆ addCollisionObjectsToEngine()

◆ addCollisionObjectToEngine()

◆ addShapeFrame()

◆ addShapeFrameImpl()

◆ addShapeFrames()

◆ addShapeFramesOf() [1/6]

◆ addShapeFramesOf() [2/6]

◆ addShapeFramesOf() [3/6]

◆ addShapeFramesOf() [4/6]

◆ addShapeFramesOf() [5/6]

◆ addShapeFramesOf() [6/6]

◆ collide() [1/2]

◆ collide() [2/2]

◆ distance() [1/2]

◆ distance() [2/2]

◆ getAutomaticUpdate()

◆ getCollisionDetector() [1/2]

◆ getCollisionDetector() [2/2]

◆ getFCLCollisionManager() [1/2]

◆ getFCLCollisionManager() [2/2]

◆ getNumShapeFrames()

◆ getShapeFrame()

◆ hasShapeFrame()

◆ initializeEngineData()

◆ raycast()

◆ removeAllCollisionObjectsFromEngine()

◆ removeAllShapeFrames()

◆ removeCollisionObjectFromEngine()

◆ removeDeletedShapeFrames()

◆ removeShapeFrame()

◆ removeShapeFrameInternal()

◆ removeShapeFrames()

◆ removeShapeFramesOf() [1/6]

◆ removeShapeFramesOf() [2/6]

◆ removeShapeFramesOf() [3/6]

◆ removeShapeFramesOf() [4/6]

◆ removeShapeFramesOf() [5/6]

◆ removeShapeFramesOf() [6/6]

◆ setAutomaticUpdate()

◆ subscribeTo() [1/3]

◆ subscribeTo() [2/3]

◆ subscribeTo() [3/3]

◆ unsubscribeFrom() [1/2]

◆ unsubscribeFrom() [2/2]

◆ update()

◆ updateBodyNodeSource()

◆ updateCollisionGroupEngineData()

◆ updateEngineData()

◆ updateShapeFrame()

◆ updateSkeletonSource()

Friends And Related Function Documentation

◆ FCLCollisionDetector

Member Data Documentation

◆ mBodyNodeSources

◆ mBroadPhaseAlg

◆ mCollisionDetector

◆ mObjectInfoList

◆ mObserver

◆ mSkeletonSources

◆ mUpdateAutomatically