dart::collision::CollisionGroup Class Reference

#include <CollisionGroup.hpp>

Inheritance diagram for dart::collision::CollisionGroup:

Public Member Functions
	CollisionGroup (const CollisionDetectorPtr &collisionDetector)
	Constructor.
virtual	~CollisionGroup ()=default
	Destructor.
CollisionDetectorPtr	getCollisionDetector ()
	Return collision detection engine associated with this CollisionGroup.
ConstCollisionDetectorPtr	getCollisionDetector () const
	Return (const) collision detection engine associated with this CollisionGroup.
void	addShapeFrame (const dynamics::ShapeFrame *shapeFrame)
	Add a ShapeFrame to this CollisionGroup.
void	addShapeFrames (const std::vector< const dynamics::ShapeFrame * > &shapeFrames)
	Add ShapeFrames to this CollisionGroup.
template<typename... Others>
void	addShapeFramesOf (const dynamics::ShapeFrame *shapeFrame, const Others *... others)
	Add a ShapeFrame, and also add ShapeFrames of other various objects.
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.
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.
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.
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.
void	addShapeFramesOf ()
	Do nothing.
void	removeShapeFrame (const dynamics::ShapeFrame *shapeFrame)
	Remove a ShapeFrame from this CollisionGroup.
void	removeShapeFrames (const std::vector< const dynamics::ShapeFrame * > &shapeFrames)
	Remove ShapeFrames from this CollisionGroup.
template<typename... Others>
void	removeShapeFramesOf (const dynamics::ShapeFrame *shapeFrame, const Others *... others)
	Remove a ShapeFrame, and also remove ShapeFrames of other various objects.
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.
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.
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.
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.
void	removeShapeFramesOf ()
	Do nothing.
void	removeAllShapeFrames ()
	Remove all the ShapeFrames in this CollisionGroup.
bool	hasShapeFrame (const dynamics::ShapeFrame *shapeFrame) const
	Return true if this CollisionGroup contains shapeFrame.
std::size_t	getNumShapeFrames () const
	Return number of ShapeFrames added to this CollisionGroup.
const dynamics::ShapeFrame *	getShapeFrame (std::size_t index) const
	Get the ShapeFrame corresponding to the given index.
bool	collide (const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr)
	Perform collision check within this CollisionGroup.
bool	collide (CollisionGroup *otherGroup, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr)
	Perform collision check with other CollisionGroup.
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.
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).

Protected Member Functions
void	updateEngineData ()
	Update engine data.
virtual void	initializeEngineData ()=0
	Initialize the collision detection engine data such as broadphase algorithm.
virtual void	addCollisionObjectToEngine (CollisionObject *object)=0
	Add CollisionObject to the collision detection engine.
virtual void	addCollisionObjectsToEngine (const std::vector< CollisionObject * > &collObjects)=0
	Add CollisionObjects to the collision detection engine.
virtual void	removeCollisionObjectFromEngine (CollisionObject *object)=0
	Remove CollisionObject from the collision detection engine.
virtual void	removeAllCollisionObjectsFromEngine ()=0
	Remove all the CollisionObjects from the collision detection engine.
virtual void	updateCollisionGroupEngineData ()=0
	Update the collision detection engine data such as broadphase algorithm.

Protected Attributes
CollisionDetectorPtr	mCollisionDetector
	Collision detector.
std::vector< std::pair< const dynamics::ShapeFrame *, CollisionObjectPtr > >	mShapeFrameMap
	ShapeFrames and CollisionOjbects added to this CollisionGroup.

Constructor & Destructor Documentation

CollisionGroup()

dart::collision::CollisionGroup::CollisionGroup

(

const CollisionDetectorPtr &

collisionDetector

)

Constructor.

~CollisionGroup()

virtual dart::collision::CollisionGroup::~CollisionGroup ( )

virtualdefault

Destructor.

Member Function Documentation

addCollisionObjectsToEngine()

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

protectedpure virtual

Add CollisionObjects to the collision detection engine.

Implemented in dart::collision::BulletCollisionGroup, dart::collision::DARTCollisionGroup, dart::collision::FCLCollisionGroup, and dart::collision::OdeCollisionGroup.

addCollisionObjectToEngine()

virtual void dart::collision::CollisionGroup::addCollisionObjectToEngine ( CollisionObject *  object )

protectedpure virtual

Add CollisionObject to the collision detection engine.

Implemented in dart::collision::BulletCollisionGroup, dart::collision::DARTCollisionGroup, dart::collision::FCLCollisionGroup, and dart::collision::OdeCollisionGroup.

addShapeFrame()

void dart::collision::CollisionGroup::addShapeFrame

(

const dynamics::ShapeFrame *

shapeFrame

)

Add a ShapeFrame to this CollisionGroup.

addShapeFrames()

void dart::collision::CollisionGroup::addShapeFrames

(

const std::vector< const dynamics::ShapeFrame * > &

shapeFrames

)

Add ShapeFrames to this CollisionGroup.

addShapeFramesOf() [1/6]

void dart::collision::CollisionGroup::addShapeFramesOf

(

)

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
	)

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
	)

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
	)

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
	)

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
	)

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
	)

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
	)

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
	)

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
	)

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.

getCollisionDetector() [1/2]

CollisionDetectorPtr dart::collision::CollisionGroup::getCollisionDetector

(

)

Return collision detection engine associated with this CollisionGroup.

getCollisionDetector() [2/2]

ConstCollisionDetectorPtr dart::collision::CollisionGroup::getCollisionDetector

(

)

const

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

getNumShapeFrames()

std::size_t dart::collision::CollisionGroup::getNumShapeFrames

(

)

const

Return number of ShapeFrames added to this CollisionGroup.

getShapeFrame()

const dynamics::ShapeFrame * dart::collision::CollisionGroup::getShapeFrame

(

std::size_t

index

)

const

Get the ShapeFrame corresponding to the given index.

hasShapeFrame()

bool dart::collision::CollisionGroup::hasShapeFrame

(

const dynamics::ShapeFrame *

shapeFrame

)

const

Return true if this CollisionGroup contains shapeFrame.

initializeEngineData()

virtual void dart::collision::CollisionGroup::initializeEngineData ( )

protectedpure virtual

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.

Implemented in dart::collision::BulletCollisionGroup, dart::collision::DARTCollisionGroup, dart::collision::FCLCollisionGroup, and dart::collision::OdeCollisionGroup.

removeAllCollisionObjectsFromEngine()

virtual void dart::collision::CollisionGroup::removeAllCollisionObjectsFromEngine ( )

protectedpure virtual

Remove all the CollisionObjects from the collision detection engine.

Implemented in dart::collision::BulletCollisionGroup, dart::collision::DARTCollisionGroup, dart::collision::FCLCollisionGroup, and dart::collision::OdeCollisionGroup.

removeAllShapeFrames()

void dart::collision::CollisionGroup::removeAllShapeFrames

(

)

Remove all the ShapeFrames in this CollisionGroup.

removeCollisionObjectFromEngine()

virtual void dart::collision::CollisionGroup::removeCollisionObjectFromEngine ( CollisionObject *  object )

protectedpure virtual

Remove CollisionObject from the collision detection engine.

Implemented in dart::collision::BulletCollisionGroup, dart::collision::DARTCollisionGroup, dart::collision::FCLCollisionGroup, and dart::collision::OdeCollisionGroup.

removeShapeFrame()

void dart::collision::CollisionGroup::removeShapeFrame

(

const dynamics::ShapeFrame *

shapeFrame

)

Remove a ShapeFrame from this CollisionGroup.

removeShapeFrames()

void dart::collision::CollisionGroup::removeShapeFrames

(

const std::vector< const dynamics::ShapeFrame * > &

shapeFrames

)

Remove ShapeFrames from this CollisionGroup.

removeShapeFramesOf() [1/6]

void dart::collision::CollisionGroup::removeShapeFramesOf

(

)

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
	)

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

removeShapeFramesOf() [3/6]

template<typename... Others>

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

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

removeShapeFramesOf() [4/6]

template<typename... Others>

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

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

removeShapeFramesOf() [5/6]

template<typename... Others>

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

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
	)

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

updateCollisionGroupEngineData()

virtual void dart::collision::CollisionGroup::updateCollisionGroupEngineData ( )

protectedpure virtual

Update the collision detection engine data such as broadphase algorithm.

This function will be called ahead of every collision checking.

Implemented in dart::collision::BulletCollisionGroup, dart::collision::DARTCollisionGroup, dart::collision::FCLCollisionGroup, and dart::collision::OdeCollisionGroup.

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.

Member Data Documentation

mCollisionDetector

CollisionDetectorPtr dart::collision::CollisionGroup::mCollisionDetector

protected

Collision detector.

mShapeFrameMap

std::vector<std::pair<const dynamics::ShapeFrame*, CollisionObjectPtr> > dart::collision::CollisionGroup::mShapeFrameMap

protected

ShapeFrames and CollisionOjbects added to this CollisionGroup.