physics::GJKCollisionDetector Class Reference

Inheritance diagram for physics::GJKCollisionDetector:

[legend]Collaboration diagram for physics::GJKCollisionDetector:

[legend]List of all members.

Public Types
enum	CollisionQueryType { DetectCollision, FirstContactPoint, AllContactPoints }
typedef Int	Attributes
typedef Int	VisualType
enum	AttributeFlags {   ShowAxes = 1, ShowBounds = 2, ShowCollisions = 4, ShowCollisionModel = 8,   ShowCollisionDetection = 16, ShowEdges = 32, ShowNormals = 64, VerticesOnly = 128 }
Public Member Functions
	GJKCollisionDetector ()
virtual	~GJKCollisionDetector ()
virtual String	className () const
virtual Object &	clone () const
virtual CollisionModel::CollisionModelType	getType () const
virtual bool	collision (ref< const Solid > solid1, ref< const Solid > solid2, CollisionQueryType queryType)
virtual bool	collisionEnable (bool enabled)
	enable/disable all collisions
virtual bool	visualTypeSupported (VisualType type) const
virtual osg::Node *	createOSGVisual (Visual::Attributes visualAttributes=0) const
virtual void	setCollisionQueryType (CollisionQueryType collisionQueryType)
virtual ref< CollidableBody >	createCollidableBody (ref< Shape > shape)=0
	new CollidableBody with specified Shape
virtual ref< CollisionState >	getCollisionState (ref< const CollidableBody > collidableBody1, ref< const CollidableBody > collidableBody2) const
	Get the CollisionState for a pair of CollidableBodys.
virtual gfx::Segment3	shortestSegmentBetween (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
	Compute the shortest line segment between the surfaces of a pair of Collidables.
virtual void	reset ()
	called at the beginning of each collision cycle
virtual void	collide (ref< const Collidable > collidable1, ref< const Collidable > collidable2)=0
	notify PotentialCollisionListeners if possible collision between Collidables
virtual void	collide (ref< const Collidable > collidable)
virtual bool	isCollisionEnabled () const
virtual void	addPotentialCollisionListener (ref< PotentialCollisionListener > listener)
virtual void	removePotentialCollisionListener (ref< PotentialCollisionListener > listener)
virtual void	potentialCollision (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Static Public Attributes
const Real	collisionEpsilon
const Int	OSGVisual = 1
Protected Types
typedef std::pair< ref< const CollidableBody >, ref< const CollidableBody > >	CollidableBodyPair
typedef std::map< CollidableBodyPair, ref< CollisionState > >	CollisionStateMap
typedef base::reflist< PotentialCollisionListener >	ListenerList
Protected Member Functions
virtual ref< CollisionState >	newCollisionState (ref< const Solid > solid1, ref< const Solid > solid2) const
bool	intersect (ref< const GJKCollisionModel > model1, ref< const GJKCollisionModel > model2, const base::Transform &t1, const base::Transform &t2, ref< GJKCollisionModel::GJKModelState > modelState1, ref< GJKCollisionModel::GJKModelState > modelState2, ref< GJKCollisionState > collisionState)
bool	closest (Vector3 &v)
void	compute_vector (Int bits, Vector3 &v)
void	compute_points (int bits, Point3 &p1, Point3 &p2)
bool	valid (Int s)
void	compute_det ()
virtual ref< CollisionState >	newCollisionState (ref< const CollidableBody > collidableBody1, ref< const CollidableBody > collidableBody2) const
void	notifyListeners (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
	call potentialCollision(collidable1,collidable2) on all listeners (if enabled)
void	resetListeners ()
	call reset() on all listeners (if enabled)
Protected Attributes
bool	collisionDetectionEnabled
Point3	p [4]
Point3	q [4]
Vector3	y [4]
Int	bits
Int	last
Int	last_bit
Int	all_bits
Real	det [16][4]
Visual::Attributes	attributes
ref_ptr< osg::Node >	node
osg::Vec3Array *	verts
osg::ref_ptr< osg::Geometry >	geom
CollisionStateMap	collisionStates
CollisionQueryType	queryType
bool	enabled
ListenerList	listeners
int	_refCount
bool	onUnreferenceEnabled

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Member Typedef Documentation

typedef Int gfx::Visual::Attributes [inherited]

Definition at line 39 of file Visual. Referenced by gfx::Visual::createOSGVisual().

typedef std::pair< ref<const CollidableBody>, ref<const CollidableBody> > physics::CollisionDetector::CollidableBodyPair [protected, inherited]

Definition at line 65 of file CollisionDetector.

typedef std::map< CollidableBodyPair, ref<CollisionState> > physics::CollisionDetector::CollisionStateMap [protected, inherited]

Definition at line 66 of file CollisionDetector.

typedef base::reflist<PotentialCollisionListener> physics::Collider::ListenerList [protected, inherited]

Definition at line 76 of file Collider.

typedef Int gfx::Visual::VisualType [inherited]

Definition at line 44 of file Visual. Referenced by gfx::Visual::visualTypeSupported().

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Member Enumeration Documentation

enum gfx::Visual::AttributeFlags [inherited]

Enumeration values: ShowAxes  ShowBounds  ShowCollisions  ShowCollisionModel  ShowCollisionDetection  ShowEdges  ShowNormals  VerticesOnly  Definition at line 40 of file Visual.

enum physics::CollisionDetector::CollisionQueryType [inherited]

Enumeration values: DetectCollision  FirstContactPoint  AllContactPoints  Definition at line 45 of file CollisionDetector.

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Constructor & Destructor Documentation

physics::GJKCollisionDetector::GJKCollisionDetector (   )

Referenced by clone().

virtual physics::GJKCollisionDetector::~GJKCollisionDetector (   )  [virtual]

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Member Function Documentation

virtual void physics::Collider::addPotentialCollisionListener (  ref< PotentialCollisionListener >  listener  )  [inline, virtual, inherited]

Definition at line 60 of file Collider. References base::reflist< _Tp, _Alloc >::push_back().

virtual String physics::GJKCollisionDetector::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 46 of file GJKCollisionDetector. Referenced by clone().

virtual Object& physics::GJKCollisionDetector::clone (   )  const [inline, virtual]

Definition at line 47 of file GJKCollisionDetector. References className(), GJKCollisionDetector(), and NewNamedObj.

bool physics::GJKCollisionDetector::closest (  Vector3 &  v  )  [protected]

virtual void physics::Collider::collide (  ref< const Collidable >  collidable  )  [virtual, inherited]

convenience method that calls collide(collidable1, collidable2) for each pair of Collidables in the group collidable, unless collidable isn't a group or has child inter-collision disabled (so that you can keep all your Collidables in a single top-level group) Reimplemented in physics::ODECollisionCuller, physics::ODECollisionDetector, and physics::SimpleCollisionCuller.

virtual void physics::Collider::collide (  ref< const Collidable >  collidable1, ref< const Collidable >  collidable2 )  [pure virtual, inherited]

notify PotentialCollisionListeners if possible collision between Collidables Implemented in physics::CollisionResponseHandler, physics::NullCollisionResponseHandler, physics::ODECollisionCuller, physics::ODECollisionDetector, and physics::SimpleCollisionCuller. Referenced by physics::Collider::potentialCollision().

virtual bool physics::GJKCollisionDetector::collision (  ref< const Solid >  solid1, ref< const Solid >  solid2, CollisionQueryType  queryType )  [virtual]

virtual bool physics::GJKCollisionDetector::collisionEnable (  bool  enabled  )  [inline, virtual]

enable/disable all collisions Reimplemented from physics::Collider. Definition at line 55 of file GJKCollisionDetector. References collisionDetectionEnabled.

void physics::GJKCollisionDetector::compute_det (   )  [protected]

void physics::GJKCollisionDetector::compute_points (  int  bits, Point3 &  p1, Point3 &  p2 )  [protected]

void physics::GJKCollisionDetector::compute_vector (  Int  bits, Vector3 &  v )  [protected]

virtual ref<CollidableBody> physics::CollisionDetector::createCollidableBody (  ref< Shape >  shape  )  [pure virtual, inherited]

new CollidableBody with specified Shape Implemented in physics::ODECollisionDetector.

virtual osg::Node* physics::GJKCollisionDetector::createOSGVisual (  Visual::Attributes  visualAttributes = 0  )  const [virtual]

Reimplemented from gfx::Visual.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual ref<CollisionState> physics::CollisionDetector::getCollisionState (  ref< const CollidableBody >  collidableBody1, ref< const CollidableBody >  collidableBody2 )  const [virtual, inherited]

Get the CollisionState for a pair of CollidableBodys.

virtual CollisionModel::CollisionModelType physics::GJKCollisionDetector::getType (   )  const [inline, virtual]

Definition at line 49 of file GJKCollisionDetector.

bool physics::GJKCollisionDetector::intersect (  ref< const GJKCollisionModel >  model1, ref< const GJKCollisionModel >  model2, const base::Transform &  t1, const base::Transform &  t2, ref< GJKCollisionModel::GJKModelState >  modelState1, ref< GJKCollisionModel::GJKModelState >  modelState2, ref< GJKCollisionState >  collisionState )  [protected]

virtual bool physics::Collider::isCollisionEnabled (   )  const [inline, virtual, inherited]

Reimplemented in physics::CollisionCuller. Definition at line 58 of file Collider. References physics::Collider::enabled.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual ref<CollisionState> physics::CollisionDetector::newCollisionState (  ref< const CollidableBody >  collidableBody1, ref< const CollidableBody >  collidableBody2 )  const [inline, protected, virtual, inherited]

Reimplemented in physics::ODECollisionDetector. Definition at line 60 of file CollisionDetector. References NewNamedObj.

virtual ref<CollisionState> physics::GJKCollisionDetector::newCollisionState (  ref< const Solid >  solid1, ref< const Solid >  solid2 )  const [protected, virtual]

void physics::Collider::notifyListeners (  ref< const Collidable >  collidable1, ref< const Collidable >  collidable2 )  [protected, inherited]

call potentialCollision(collidable1,collidable2) on all listeners (if enabled)

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

virtual void physics::Collider::potentialCollision (  ref< const Collidable >  collidable1, ref< const Collidable >  collidable2 )  [inline, virtual, inherited]

Implements physics::PotentialCollisionListener. Definition at line 66 of file Collider. References physics::Collider::collide().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual void physics::Collider::removePotentialCollisionListener (  ref< PotentialCollisionListener >  listener  )  [inline, virtual, inherited]

Definition at line 63 of file Collider. References base::reflist< _Tp, _Alloc >::remove().

virtual void physics::Collider::reset (   )  [inline, virtual, inherited]

called at the beginning of each collision cycle Reimplemented from physics::PotentialCollisionListener. Reimplemented in physics::SolidCollisionResponseHandler, and robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler. Definition at line 46 of file Collider. References physics::Collider::resetListeners().

void physics::Collider::resetListeners (   )  [protected, inherited]

call reset() on all listeners (if enabled) Referenced by physics::Collider::reset().

virtual void physics::CollisionDetector::setCollisionQueryType (  CollisionQueryType  collisionQueryType  )  [inline, virtual, inherited]

Definition at line 47 of file CollisionDetector. References physics::CollisionDetector::queryType.

virtual gfx::Segment3 physics::CollisionDetector::shortestSegmentBetween (  ref< const Collidable >  collidable1, ref< const Collidable >  collidable2 )  [virtual, inherited]

Compute the shortest line segment between the surfaces of a pair of Collidables.

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

bool physics::GJKCollisionDetector::valid (  Int  s  )  [protected]

virtual bool physics::GJKCollisionDetector::visualTypeSupported (  VisualType  type  )  const [inline, virtual]

Reimplemented from gfx::Visual. Definition at line 63 of file GJKCollisionDetector.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

Int physics::GJKCollisionDetector::all_bits [protected]

Definition at line 109 of file GJKCollisionDetector.

Visual::Attributes physics::GJKCollisionDetector::attributes [mutable, protected]

Definition at line 113 of file GJKCollisionDetector.

Int physics::GJKCollisionDetector::bits [protected]

Definition at line 106 of file GJKCollisionDetector.

bool physics::GJKCollisionDetector::collisionDetectionEnabled [protected]

Definition at line 69 of file GJKCollisionDetector. Referenced by collisionEnable().

const Real physics::CollisionDetector::collisionEpsilon [static, inherited]

Definition at line 49 of file CollisionDetector.

CollisionStateMap physics::CollisionDetector::collisionStates [mutable, protected, inherited]

Definition at line 67 of file CollisionDetector.

Real physics::GJKCollisionDetector::det[16][4] [protected]

Definition at line 111 of file GJKCollisionDetector.

bool physics::Collider::enabled [protected, inherited]

Definition at line 74 of file Collider. Referenced by physics::Collider::Collider(), and physics::Collider::isCollisionEnabled().

osg::ref_ptr<osg::Geometry> physics::GJKCollisionDetector::geom [mutable, protected]

Definition at line 116 of file GJKCollisionDetector.

Int physics::GJKCollisionDetector::last [protected]

Definition at line 107 of file GJKCollisionDetector.

Int physics::GJKCollisionDetector::last_bit [protected]

Definition at line 108 of file GJKCollisionDetector.

ListenerList physics::Collider::listeners [protected, inherited]

Definition at line 77 of file Collider.

ref_ptr<osg::Node> physics::GJKCollisionDetector::node [mutable, protected]

Definition at line 114 of file GJKCollisionDetector.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

const Int gfx::Visual::OSGVisual = 1 [static, inherited]

Definition at line 45 of file Visual.

Point3 physics::GJKCollisionDetector::p[4] [protected]

Definition at line 102 of file GJKCollisionDetector.

Point3 physics::GJKCollisionDetector::q[4] [protected]

Definition at line 103 of file GJKCollisionDetector.

CollisionQueryType physics::CollisionDetector::queryType [protected, inherited]

Definition at line 69 of file CollisionDetector. Referenced by physics::CollisionDetector::setCollisionQueryType().

osg::Vec3Array* physics::GJKCollisionDetector::verts [mutable, protected]

Definition at line 115 of file GJKCollisionDetector.

Vector3 physics::GJKCollisionDetector::y[4] [protected]

Definition at line 104 of file GJKCollisionDetector.

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

• physics/GJKCollisionDetector

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