dart::collision::OdeCollisionDetector Class Reference

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 () 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...

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...
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 ( )

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.

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.