physics::OBBCollisionDetector Class Reference

Inheritance diagram for physics::OBBCollisionDetector:

[legend]Collaboration diagram for physics::OBBCollisionDetector:

[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
	OBBCollisionDetector ()
virtual String	className () 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 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	visualTypeSupported (VisualType type) const
virtual osg::Node *	createOSGVisual (Visual::Attributes visualAttributes=0) const
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
Public Attributes
Int	numBoxTests
Int	numTriTests
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
void	Collide (const base::Matrix3 &R1, const base::Vector3 &T1, ref< const OBBCollisionModel > model1, const base::Matrix3 &R2, const base::Vector3 &T2, ref< const OBBCollisionModel > model2, CollisionQueryType queryType)
void	Collide (const base::Matrix3 &R1, const base::Vector3 &T1, Real s1, ref< const OBBCollisionModel > model1, const base::Matrix3 &R2, const base::Vector3 &T2, Real s2, ref< const OBBCollisionModel > model2, CollisionQueryType queryType)
void	collideRecursive (const OBBCollisionModel::OBB &b1, const OBBCollisionModel::OBB &b2, const base::Matrix3 &R, const base::Vector3 &T, double s)
void	triContact (const OBBCollisionModel::OBB &b1, const OBBCollisionModel::OBB &b2)
bool	triContact (const base::Vector3 &P1, const base::Vector3 &P2, const gfx::Vector3 &P3, const base::Point3 &Q1, const base::Point3 &Q2, const gfx::Point3 &Q3)
bool	project6 (const Vector3 &ax, const Vector3 &p1, const Vector3 &p2, const Vector3 &p3, const Vector3 &q1, const Vector3 &q2, const Vector3 &q3) const
Int	OBBDisjoint (const base::Matrix3 &B, const base::Vector3 &T, const base::Vector3 &a, const base::Vector3 &b)
virtual ref< CollisionState >	newCollisionState (ref< const Solid > solid1, ref< const Solid > solid2) const
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
base::Vector3	i1
base::Vector3	i2
base::Vector3	i3
base::Matrix3	Bf
base::Matrix3	mR
base::Vector3	mT
Real	ms
std::vector< std::pair< gfx::Triangle3, gfx::Triangle3 > >	contacts
bool	firstContact
base::Vector3	p1
base::Vector3	p2
base::Vector3	p3
base::Vector3	q1
base::Vector3	q2
base::Vector3	q3
base::Vector3	e1
base::Vector3	e2
base::Vector3	e3
base::Vector3	f1
base::Vector3	f2
base::Vector3	f3
base::Vector3	g1
base::Vector3	g2
base::Vector3	g3
base::Vector3	h1
base::Vector3	h2
base::Vector3	h3
base::Vector3	n1
base::Vector3	m1
base::Vector3	z
base::Vector3	ef11
base::Vector3	ef12
base::Vector3	ef13
base::Vector3	ef21
base::Vector3	ef22
base::Vector3	ef23
base::Vector3	ef31
base::Vector3	ef32
base::Vector3	ef33
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::OBBCollisionDetector::OBBCollisionDetector (   )  [inline]

Definition at line 44 of file OBBCollisionDetector.

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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::OBBCollisionDetector::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 47 of file OBBCollisionDetector.

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().

void physics::OBBCollisionDetector::Collide (  const base::Matrix3 &  R1, const base::Vector3 &  T1, Real  s1, ref< const OBBCollisionModel >  model1, const base::Matrix3 &  R2, const base::Vector3 &  T2, Real  s2, ref< const OBBCollisionModel >  model2, CollisionQueryType  queryType )  [protected]

void physics::OBBCollisionDetector::Collide (  const base::Matrix3 &  R1, const base::Vector3 &  T1, ref< const OBBCollisionModel >  model1, const base::Matrix3 &  R2, const base::Vector3 &  T2, ref< const OBBCollisionModel >  model2, CollisionQueryType  queryType )  [protected]

void physics::OBBCollisionDetector::collideRecursive (  const OBBCollisionModel::OBB &  b1, const OBBCollisionModel::OBB &  b2, const base::Matrix3 &  R, const base::Vector3 &  T, double  s )  [protected]

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

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

enable/disable all collisions Reimplemented from physics::Collider. Definition at line 56 of file OBBCollisionDetector.

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

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

virtual osg::Node* gfx::Visual::createOSGVisual (  Visual::Attributes  visualAttributes = 0  )  const [inline, virtual, inherited]

Reimplemented in physics::GJKCollisionDetector, physics::OBBCollisionModel, physics::ODECollisionModel, physics::ODESolidSystem, physics::Solid, physics::SOLIDCollisionModel, and robot::sim::SimulatedBasicEnvironment. Definition at line 49 of file Visual. References gfx::Visual::Attributes, Logln, and NewObj.

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::OBBCollisionDetector::getType (   )  const [inline, virtual]

Definition at line 49 of file OBBCollisionDetector.

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::OBBCollisionDetector::newCollisionState (  ref< const Solid >  solid1, ref< const Solid >  solid2 )  const [inline, protected, virtual]

Definition at line 117 of file OBBCollisionDetector. References NewNamedObj.

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

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

Int physics::OBBCollisionDetector::OBBDisjoint (  const base::Matrix3 &  B, const base::Vector3 &  T, const base::Vector3 &  a, const base::Vector3 &  b )  [protected]

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().

bool physics::OBBCollisionDetector::project6 (  const Vector3 &  ax, const Vector3 &  p1, const Vector3 &  p2, const Vector3 &  p3, const Vector3 &  q1, const Vector3 &  q2, const Vector3 &  q3 )  const [protected]

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 physics::OBBCollisionDetector::triContact (  const base::Vector3 &  P1, const base::Vector3 &  P2, const gfx::Vector3 &  P3, const base::Point3 &  Q1, const base::Point3 &  Q2, const gfx::Point3 &  Q3 )  [protected]

void physics::OBBCollisionDetector::triContact (  const OBBCollisionModel::OBB &  b1, const OBBCollisionModel::OBB &  b2 )  [protected]

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.

virtual bool gfx::Visual::visualTypeSupported (  VisualType  type  )  const [inline, virtual, inherited]

Reimplemented in gfx::OSGWorld, gfx::VisualPath, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::GJKCollisionDetector, physics::LODTerrain, physics::OBBCollisionModel, physics::ODECollisionModel, physics::ODESolidSystem, physics::Polyhedron, physics::Solid, physics::SOLIDCollisionModel, physics::Sphere, physics::Torus, physics::VisualDebugUtil, and robot::sim::VisualIKORTest. Definition at line 47 of file Visual. References gfx::Visual::VisualType.

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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().

base::Matrix3 physics::OBBCollisionDetector::Bf [protected]

Definition at line 71 of file OBBCollisionDetector.

bool physics::OBBCollisionDetector::collisionDetectionEnabled [protected]

Definition at line 68 of file OBBCollisionDetector.

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.

std::vector<std::pair<gfx::Triangle3,gfx::Triangle3> > physics::OBBCollisionDetector::contacts [protected]

Definition at line 76 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::e1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::e2 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::e3 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef11 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef12 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef13 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef21 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef22 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef23 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef31 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef32 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::ef33 [protected]

Definition at line 122 of file OBBCollisionDetector.

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

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

base::Vector3 physics::OBBCollisionDetector::f1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::f2 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::f3 [protected]

Definition at line 122 of file OBBCollisionDetector.

bool physics::OBBCollisionDetector::firstContact [protected]

Definition at line 78 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::g1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::g2 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::g3 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::h1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::h2 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::h3 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::i1 [protected]

Definition at line 70 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::i2 [protected]

Definition at line 70 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::i3 [protected]

Definition at line 70 of file OBBCollisionDetector.

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

Definition at line 77 of file Collider.

base::Vector3 physics::OBBCollisionDetector::m1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Matrix3 physics::OBBCollisionDetector::mR [protected]

Definition at line 72 of file OBBCollisionDetector.

Real physics::OBBCollisionDetector::ms [protected]

Definition at line 74 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::mT [protected]

Definition at line 73 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::n1 [protected]

Definition at line 122 of file OBBCollisionDetector.

Int physics::OBBCollisionDetector::numBoxTests

Definition at line 64 of file OBBCollisionDetector.

Int physics::OBBCollisionDetector::numTriTests

Definition at line 65 of file OBBCollisionDetector.

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.

base::Vector3 physics::OBBCollisionDetector::p1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::p2 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::p3 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::q1 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::q2 [protected]

Definition at line 122 of file OBBCollisionDetector.

base::Vector3 physics::OBBCollisionDetector::q3 [protected]

Definition at line 122 of file OBBCollisionDetector.

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

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

base::Vector3 physics::OBBCollisionDetector::z [protected]

Definition at line 122 of file OBBCollisionDetector.

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

• physics/OBBCollisionDetector

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