Physsim::CollisionDetection

Physsim::CollisionDetection Class Reference

Defines an abstract collision detection mechanism. More...

#include <CollisionDetection.h>

Inheritance diagram for Physsim::CollisionDetection:


Public Member Functions
virtual void	clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const
	Clones this object.
virtual bool	is_struct_identical (BaseConstPtr object) const
	Verifies that structure is identical.
virtual void	load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL)
	Loads the state of this object.
virtual void	save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const
	Saves the state of this object.
void	add_dynamic_body (DynamicBodyPtr body)
	Adds the given dynamic body to the collision detector.
void	operator= (const CollisionDetection *source)
virtual void	load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml().
virtual void	save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const
	Implements Base::save_to_xml().
virtual void	remove_collision_geometry (CollisionGeometryPtr geom)
	Removes a collision geometry from the collision detector, if present.
virtual void	remove_all_collision_geometries ()
	Removes all geometries from the collision detector.
virtual void	add_rigid_body (RigidBodyPtr body)
	Adds a rigid body to the collision detector.
virtual void	add_articulated_body (ArticulatedBodyPtr abody, bool disable_adjacent)
virtual void	output_object_state (std::ostream &out) const
	Outputs this class data to the stream.
void	set_enabled (BasePtr b1, BasePtr b2, bool enabled)
	Sets a pair of objects to enabled/disabled in the collision detector.
void	set_enabled (BasePtr b, bool enabled)
	Sets an object to enabled/disabled in the collision detector.
bool	is_checked (CollisionGeometryPtr cg1, CollisionGeometryPtr cg2) const
	Determines whether a pair of geometries is checked for collision detection.
virtual void	add_collision_geometry (CollisionGeometryPtr geom)
	Adds the specified geometry to the set of geometries checked for collision.
const std::set< CollisionGeometryPtr > &	get_collision_geometries () const
	Gets the set of geometries checked by this collision detector.
bool	is_enabled (CollisionGeometryPtr g1, CollisionGeometryPtr g2) const
	Determines whether collision checking for the specified pair is enabled.
bool	is_enabled (CollisionGeometryPtr g) const
	Determines whether collision checking for the specified geometry is enabled.
virtual bool	is_collision (Real epsilon=0.0)=0
	Determines whether there is a collision at the current simulation state with the given tolerance.
virtual Real	calc_distances ()=0
	Calculates the distance between each pair of geometries and returns the minimum distance.
const std::map< sorted_pair< CollisionGeometryPtr >, QueryPtr > &	get_colliding_pairs () const
	Gets the pairs of collision geometries in collision after a call to is_collision().
const std::map< sorted_pair< CollisionGeometryPtr >, QueryPtr > &	get_distances () const
	Gets the pairs of collision geometries and respective distances after a call to calc_distance().
const std::set< sorted_pair< CollisionGeometryPtr > > &	get_disabled_pairs () const
	Gets the set of disabled pairs.
const std::set< CollisionGeometryPtr > &	get_disabled () const
	Gets the set of disabled singletons.
void	add_articulated_body (ArticulatedBodyPtr abody)
	Adds an articulated body to the bodies checked for collision.
virtual std::list< ContactPtr >	find_contacts (CollisionGeometryPtr g1, CollisionGeometryPtr g2)=0
	Gets the contact(s) between two CollisionGeometry objects.
Public Attributes
bool	_disable_adjacent_default
	The default setting for disabling adjacent links in added articulated bodies.
Protected Member Functions
virtual void	save_query_results (BasePtr object, bimap< BasePtr, BasePtr > *correspondence) const
	Saves any query results.
virtual void	clone_query_results (BasePtr &cloned, bimap< BasePtr, BasePtr > *object_map) const
	Clones any query results.
virtual void	load_query_results (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence)
	Loads any query results.
bool	collinear (const std::list< Vector3 > &points) const
	Determines whether a list of points is collinear.
Protected Attributes
std::set< sorted_pair< CollisionGeometryPtr > >	_disabled_pairs
	The set of disabled pairs of CollisionGeometry objects.
std::set< CollisionGeometryPtr >	_disabled
	The set of disabled CollisionGeometry objects.
std::map< sorted_pair< CollisionGeometryPtr >, QueryPtr >	_colliding_pairs
	The map of geometries to collision results (from last call to is_collision()).
std::map< sorted_pair< CollisionGeometryPtr >, QueryPtr >	_distances
	The map of geometries to distances.
std::set< CollisionGeometryPtr >	_geoms
	The set of geometries checked by the collision detector.

Detailed Description

Defines an abstract collision detection mechanism.

Member Function Documentation

void CollisionDetection::load_state	(	BaseConstPtr	object,
		bimap< BasePtr, BasePtr > *	correspondence = `NULL`
	)			`[virtual]`

Loads the state of this object.

The underlying penalty resting contact method must have identical structure.

Reimplemented from Physsim::Base.

Reimplemented in Physsim::ADFCollisionDetection, and Physsim::PQPCollisionDetection.

void CollisionDetection::save_state	(	BasePtr	object,
		bimap< BasePtr, BasePtr > *	correspondence = `NULL`
	)			const `[virtual]`

Saves the state of this object.

The underlying penalty resting contact method must have identical structure.

Reimplemented from Physsim::Base.

Reimplemented in Physsim::ADFCollisionDetection, and Physsim::PQPCollisionDetection.

void CollisionDetection::add_dynamic_body ( DynamicBodyPtr db )

Adds the given dynamic body to the collision detector.

Note:: if the body is articulated, then adjacent links are not disabled!

void CollisionDetection::save_to_xml	(	XMLTreePtr	node,
		std::list< BaseConstPtr > &	shared_objects
	)			const `[virtual]`

Implements Base::save_to_xml().

Note:: neither the contact cache nor the pairs currently in collision are saved

Reimplemented from Physsim::Base.

Reimplemented in Physsim::ADFCollisionDetection, and Physsim::PQPCollisionDetection.

void CollisionDetection::remove_collision_geometry ( CollisionGeometryPtr geom ) [virtual]

Removes a collision geometry from the collision detector, if present.

remove the geometry

Reimplemented in Physsim::ADFCollisionDetection, and Physsim::PQPCollisionDetection.

void CollisionDetection::add_articulated_body	(	ArticulatedBodyPtr	abody,
		bool	disable_adjacent
	)			`[virtual]`

Parameters:

	abody	the pointer to the specified body
	disabled_adjacent	if set to true collision checking for all adjacent links will be disabled

void CollisionDetection::output_object_state ( std::ostream & out ) const [virtual]

Outputs this class data to the stream.

This method outputs all of the low-level details to the stream; if serialization is desired, use save_to_xml() instead.

See also:: save_to_xml()

Reimplemented from Physsim::Base.

void CollisionDetection::set_enabled	(	BasePtr	b1,
		BasePtr	b2,
		bool	enabled
	)

Sets a pair of objects to enabled/disabled in the collision detector.

If an object is a rigid body, all of its CollisionGeometry objects pairs are set to enabled/disabled. If an object is an articulated body, all of its RigidBody (and by extension, CollisionGeometry) object pairs are set to enabled/disabled.

void CollisionDetection::set_enabled	(	BasePtr	b,
		bool	enabled
	)

Sets an object to enabled/disabled in the collision detector.

If the object is a rigid body, all of its CollisionGeometry objects are set to enabled/disabled. If an object is an articulated body, all of its RigidBody (and by extension, CollisionGeometry) objects are set to enabled/disabled.

virtual void Physsim::CollisionDetection::add_collision_geometry ( CollisionGeometryPtr geom ) [inline, virtual]

Adds the specified geometry to the set of geometries checked for collision.

Note:: derived classes will generally need to provide an implementation of this method (and must call this method [CollisionGeometry::add_collision_geometry()] explicitly as well!)

Reimplemented in Physsim::ADFCollisionDetection, and Physsim::PQPCollisionDetection.

virtual bool Physsim::CollisionDetection::is_collision ( Real epsilon = 0.0 ) [pure virtual]

Determines whether there is a collision at the current simulation state with the given tolerance.

Parameters:

epsilon

the tolerance to check for collision; two bodies are considered to be in collision if the distance between the bodies is less than epsilon

Note:: implementing classes must store the colliding pairs in _colliding_pairs

Implemented in Physsim::PQPCollisionDetection.

The documentation for this class was generated from the following files:

/home/drumwrig/Physsim/include/Physsim/CollisionDetection.h
/home/drumwrig/Physsim/src/CollisionDetection.cpp

Generated on Wed Oct 24 14:54:22 2007 for Physsim by

1.5.1

Physsim::CollisionDetection Class Reference

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation