OdeCollisionDetector wraps the ODE collision detector. More...

#include <OdeCollisionDetector.hpp>

Inheritance diagram for dart::collision::OdeCollisionDetector:

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	~OdeCollisionDetector ()
	Constructor. More...

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

double	distance (CollisionGroup group1, CollisionGroup group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override

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< OdeCollisionDetector >	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
	OdeCollisionDetector ()
	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...

dWorldID	getOdeWorldId () const

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
dWorldID	mWorldId
	Top-level world for all bodies. More...

std::unique_ptr< CollisionObjectManager >	mCollisionObjectManager

Private Member Functions
dGeomID	createOdeCollisionGeometry (const dynamics::ConstShapePtr &shape)

Private Attributes
dContactGeom	contactCollisions [250]

Static Private Attributes
static Registrar< OdeCollisionDetector >	mRegistrar

Friends
class	OdeCollisionObject

Detailed Description

OdeCollisionDetector wraps the ODE collision detector.

The supported collision shape types are sphere, box, capsule, cylinder, plane, and trimesh.

ODE additionally supports ray and heightfiled, but DART doesn't support them yet.

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

◆ ~OdeCollisionDetector()

dart::collision::OdeCollisionDetector::~OdeCollisionDetector ( )

virtual

Constructor.

◆ OdeCollisionDetector()

dart::collision::OdeCollisionDetector::OdeCollisionDetector ( )

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::OdeCollisionDetector::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::OdeCollisionDetector::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::OdeCollisionDetector::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< OdeCollisionDetector > dart::collision::OdeCollisionDetector::create ( )

static

◆ createCollisionGroup() [1/4]

std::unique_ptr< CollisionGroup > dart::collision::OdeCollisionDetector::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::OdeCollisionDetector::createCollisionObject ( const dynamics::ShapeFrame * shapeFrame )

overrideprotectedvirtual

Create CollisionObject.

Implements dart::collision::CollisionDetector.

◆ createOdeCollisionGeometry()

dGeomID dart::collision::OdeCollisionDetector::createOdeCollisionGeometry ( const dynamics::ConstShapePtr & shape )

private

◆ distance() [1/2]

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

overridevirtual

Warning: Not implemented yet.

Implements dart::collision::CollisionDetector.

◆ distance() [2/2]

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

overridevirtual

Warning: Not implemented yet.

Implements dart::collision::CollisionDetector.

◆ getFactory()

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

staticinherited

Returns the singleton factory.

◆ getOdeWorldId()

dWorldID dart::collision::OdeCollisionDetector::getOdeWorldId ( ) const

protected

◆ getStaticType()

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

static

Get collision detector type for this class.

◆ getType()

const std::string & dart::collision::OdeCollisionDetector::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::OdeCollisionDetector::refreshCollisionObject ( CollisionObject * object )

overrideprotectedvirtual

Update the collision geometry of a ShapeFrame.

Implements dart::collision::CollisionDetector.

Friends And Related Function Documentation

◆ OdeCollisionObject

friend class OdeCollisionObject

friend

Member Data Documentation

◆ contactCollisions

dContactGeom dart::collision::OdeCollisionDetector::contactCollisions[250]

private

◆ mCollisionObjectManager

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

protectedinherited

◆ mRegistrar

OdeCollisionDetector::Registrar< OdeCollisionDetector > dart::collision::OdeCollisionDetector::mRegistrar

staticprivate

Initial value:

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

◆ mWorldId

dWorldID dart::collision::OdeCollisionDetector::mWorldId

protected

Top-level world for all bodies.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Factory

◆ Registrar

◆ SingletonFactory

Constructor & Destructor Documentation

◆ ~OdeCollisionDetector()

◆ OdeCollisionDetector()

Member Function Documentation

◆ claimCollisionObject()

◆ cloneWithoutCollisionObjects()

◆ collide() [1/2]

◆ collide() [2/2]

◆ create()

◆ createCollisionGroup() [1/4]

◆ createCollisionGroup() [2/4]

◆ createCollisionGroup() [3/4]

◆ createCollisionGroup() [4/4]

◆ createCollisionGroupAsSharedPtr() [1/2]

◆ createCollisionGroupAsSharedPtr() [2/2]

◆ createCollisionObject()

◆ createOdeCollisionGeometry()

◆ distance() [1/2]

◆ distance() [2/2]

◆ getFactory()

◆ getOdeWorldId()

◆ getStaticType()

◆ getType()

◆ notifyCollisionObjectDestroying()

◆ raycast()

◆ refreshCollisionObject()

Friends And Related Function Documentation

◆ OdeCollisionObject

Member Data Documentation

◆ contactCollisions

◆ mCollisionObjectManager

◆ mRegistrar

◆ mWorldId