Implements the CollisionDetection abstract class to perform exact contact finding using abstract shapes. More...
#include <CCD.h>
Inheritance diagram for Moby::CCD:
Public Member Functions | |
| CCD () | |
| Constructs a collision detector with default tolerances. | |
| virtual void | load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map) |
| Implements Base::load_from_xml() | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const |
| Implements Base::save_to_xml() More... | |
| virtual void | broad_phase (double dt, const std::vector< ControlledBodyPtr > &bodies, std::vector< std::pair< CollisionGeometryPtr, CollisionGeometryPtr > > &to_check) |
| Default broad phase function (checks everything) | |
| virtual double | calc_CA_Euler_step (const PairwiseDistInfo &pdi) |
| Computes a conservative advancement step between two collision geometries assuming that velocity is constant over the interval. | |
| virtual void | find_contacts (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, std::vector< UnilateralConstraint > &contacts, double TOL=NEAR_ZERO) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL=NEAR_ZERO) |
| Determines contact data between two geometries that are touching or interpenetrating. | |
| template<class BidirectionalIterator > | |
| void | insertion_sort (BidirectionalIterator first, BidirectionalIterator last) |
| Does insertion sort – custom comparison function not supported (uses operator<) | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL) |
| Determines contact data between two geometries that are touching or interpenetrating. | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_polyhedron_polyhedron (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL) |
| Finds contacts between two polyhedra. | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_vertex_vertex (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, boost::shared_ptr< Polyhedron::Vertex > v1, boost::shared_ptr< Polyhedron::Vertex > v2, double signed_dist, OutputIterator output_begin) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_vertex_edge (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, boost::shared_ptr< Polyhedron::Vertex > v, boost::shared_ptr< Polyhedron::Edge > e, double signed_dist, OutputIterator output_begin) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_vertex_face (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, boost::shared_ptr< Polyhedron::Vertex > vA, boost::shared_ptr< Polyhedron::Face > fB, double signed_dist, OutputIterator output_begin) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_edge_edge (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, boost::shared_ptr< Polyhedron::Edge > e1, boost::shared_ptr< Polyhedron::Edge > e2, double signed_dist, OutputIterator output_begin) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_edge_face (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, boost::shared_ptr< Polyhedron::Edge > eA, boost::shared_ptr< Polyhedron::Face > fB, double signed_dist, OutputIterator output_begin) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_face_face (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, boost::shared_ptr< Polyhedron::Face > fA, boost::shared_ptr< Polyhedron::Face > fB, double signed_dist, OutputIterator output_begin) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_generic (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_cylinder_plane (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator o, double TOL) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_sphere_plane (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator o, double TOL) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_plane_generic (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator o, double TOL) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_heightmap_generic (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator o, double TOL) |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_sphere_heightmap (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL) |
| Finds contacts between a sphere and a heightmap. | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_convex_heightmap (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL) |
| Finds contacts for a convex shape and a heightmap. | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_sphere_sphere (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator output_begin, double TOL) |
| Finds contacts for two spheres (one piece of code works for both separated and non-separated spheres) | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_box_sphere (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator o, double TOL) |
| Gets contact points between a box and a sphere. | |
| template<class OutputIterator > | |
| OutputIterator | find_contacts_torus_plane (CollisionGeometryPtr cgA, CollisionGeometryPtr cgB, OutputIterator o, double TOL) |
| Gets contact points between a torus and a plane. | |
| template<class BidirectionalIterator > | |
| void | insertion_sort (BidirectionalIterator first, BidirectionalIterator last) |
| Does insertion sort – custom comparison function not supported (uses operator<) | |
 Public Member Functions inherited from Moby::CollisionDetection | |
| virtual void | set_simulator (boost::shared_ptr< ConstraintSimulator > sim) |
| virtual double | calc_signed_dist (CollisionGeometryPtr cg1, CollisionGeometryPtr cg2, Point3d &p1, Point3d &p2) |
| Calculates the signed distance between two geometries. | |
|
boost::shared_ptr < CollisionDetection > | get_this () |
| Get the shared pointer for this. | |
| Public Member Functions inherited from Moby::Base | |
| Base (const Base *b) | |
Static Public Member Functions | |
| static unsigned | constrain_unsigned (int ii, int maxi) |
| Static Public Member Functions inherited from Moby::Base | |
| template<class T > | |
| static boost::shared_ptr< T > | clone (boost::shared_ptr< T > x) |
| Static method for cloning a shared pointer. | |
Public Attributes | |
| std::set< Ravelin::sorted_pair < CollisionGeometryPtr > > | disabled_pairs |
| Pairs of collision geometries that aren't checked for contact/collision. More... | |
| Public Attributes inherited from Moby::Base | |
| boost::shared_ptr< void > | userdata |
| Any relevant userdata. | |
| std::string | id |
| The unique ID for this object. | |
Protected Member Functions | |
| virtual double | calc_next_CA_Euler_step (const PairwiseDistInfo &pdi) |
Additional Inherited Members | |
| Static Protected Member Functions inherited from Moby::CollisionDetection | |
| static UnilateralConstraint | create_contact (CollisionGeometryPtr a, CollisionGeometryPtr b, const Point3d &point, const Ravelin::Vector3d &normal, double violation=0.0) |
| Creates a contact constraint given the bare-minimum info. | |
Detailed Description
Implements the CollisionDetection abstract class to perform exact contact finding using abstract shapes.
Member Function Documentation
|
virtual |
Implements Base::save_to_xml()
- Note
- neither the contact cache nor the pairs currently in collision are saved
Reimplemented from Moby::Base.
Member Data Documentation
| std::set<Ravelin::sorted_pair<CollisionGeometryPtr> > Moby::CCD::disabled_pairs |
Pairs of collision geometries that aren't checked for contact/collision.
- Note
- collisions between geometries for two disabled bodies and collisions between geometries for a single body are automatically not checked and do not need to be added to this set.
The documentation for this class was generated from the following files:
- /home/drum/Moby/include/Moby/CCD.h
- /home/drum/Moby/include/Moby/CCD.inl
- /home/drum/Moby/src/CCD.cpp
