#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...

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...

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...

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...

std::vector< std::pair< const dynamics::ShapeFrame *, CollisionObjectPtr > >	mShapeFrameMap
	ShapeFrames and CollisionOjbects added to this CollisionGroup. More...

Friends
class	FCLCollisionDetector

Member Typedef Documentation

◆ FCLCollisionManager

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

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.

◆ 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.

◆ 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.

◆ 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.

◆ removeShapeFrame()

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

inherited

Remove a ShapeFrame from this CollisionGroup.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

Friends And Related Function Documentation

◆ FCLCollisionDetector

friend class FCLCollisionDetector

friend

Member Data Documentation

◆ mBroadPhaseAlg

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

protected

FCL broad-phase algorithm.

◆ mCollisionDetector

CollisionDetectorPtr dart::collision::CollisionGroup::mCollisionDetector

protectedinherited

Collision detector.

◆ mShapeFrameMap

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

protectedinherited

ShapeFrames and CollisionOjbects added to this CollisionGroup.

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ FCLCollisionManager

Constructor & Destructor Documentation

◆ FCLCollisionGroup()

◆ ~FCLCollisionGroup()

Member Function Documentation

◆ addCollisionObjectsToEngine()

◆ addCollisionObjectToEngine()

◆ addShapeFrame()

◆ 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]

◆ getCollisionDetector() [1/2]

◆ getCollisionDetector() [2/2]

◆ getFCLCollisionManager() [1/2]

◆ getFCLCollisionManager() [2/2]

◆ getNumShapeFrames()

◆ getShapeFrame()

◆ hasShapeFrame()

◆ initializeEngineData()

◆ removeAllCollisionObjectsFromEngine()

◆ removeAllShapeFrames()

◆ removeCollisionObjectFromEngine()

◆ removeShapeFrame()

◆ removeShapeFrames()

◆ removeShapeFramesOf() [1/6]

◆ removeShapeFramesOf() [2/6]

◆ removeShapeFramesOf() [3/6]

◆ removeShapeFramesOf() [4/6]

◆ removeShapeFramesOf() [5/6]

◆ removeShapeFramesOf() [6/6]

◆ updateCollisionGroupEngineData()

◆ updateEngineData()

Friends And Related Function Documentation

◆ FCLCollisionDetector

Member Data Documentation

◆ mBroadPhaseAlg

◆ mCollisionDetector

◆ mShapeFrameMap