Inheritance diagram for dart::collision::CollisionGroup:

Classes
struct	ObjectInfo
	Information on a collision object belonging to this group. More...

Public Member Functions
	CollisionGroup (const CollisionDetectorPtr &collisionDetector)
	Constructor.

virtual	~CollisionGroup ()=default
	Destructor.

CollisionDetectorPtr	getCollisionDetector ()
	Return collision detection engine associated with this CollisionGroup.

ConstCollisionDetectorPtr	getCollisionDetector () const
	Return (const) collision detection engine associated with this CollisionGroup.

void	addShapeFrame (const dynamics::ShapeFrame *shapeFrame)
	Add a ShapeFrame to this CollisionGroup.

void	addShapeFrames (const std::vector< const dynamics::ShapeFrame *> &shapeFrames)
	Add ShapeFrames to this CollisionGroup.

template<typename... Others>
void	addShapeFramesOf (const dynamics::ShapeFrame shapeFrame, const Others ... others)
	Add a ShapeFrame, and also add ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const std::vector< const dynamics::ShapeFrame > &shapeFrames, const Others ... others)
	Add ShapeFrames, and also add ShapeFrames of other various objects.

template<typename... Others>
void	addShapeFramesOf (const CollisionGroup otherGroup, const Others ... others)
	Add ShapeFrames of other CollisionGroup, and also add another ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const dynamics::BodyNode bodyNode, const Others ... others)
	Add ShapeFrames of BodyNode, and also add another ShapeFrames of other various objects. More...

template<typename... Others>
void	addShapeFramesOf (const dynamics::MetaSkeleton skeleton, const Others ... others)
	Add ShapeFrames of MetaSkeleton, and also add another ShapeFrames of other various objects. More...

void	addShapeFramesOf ()
	Do nothing. More...

template<typename... Others>
void	subscribeTo (const dynamics::ConstBodyNodePtr &bodyNode, const Others &... others)
	Add ShapeFrames of bodyNode, and also subscribe to the BodyNode so that the results from this CollisionGroup automatically reflect any changes that are made to bodyNode. More...

template<typename... Others>
void	subscribeTo (const dynamics::ConstSkeletonPtr &skeleton, const Others &... others)
	Add ShapeFrames of skeleton, and also subscribe to the Skeleton so that the results from this CollisionGroup automatically reflect any changes that are made to skeleton. More...

void	subscribeTo ()
	Do nothing. More...

void	removeShapeFrame (const dynamics::ShapeFrame *shapeFrame)
	Remove a ShapeFrame from this CollisionGroup. More...

void	removeShapeFrames (const std::vector< const dynamics::ShapeFrame *> &shapeFrames)
	Remove ShapeFrames from this CollisionGroup.

template<typename... Others>
void	removeShapeFramesOf (const dynamics::ShapeFrame shapeFrame, const Others ... others)
	Remove a ShapeFrame, and also remove ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const std::vector< const dynamics::ShapeFrame > &shapeFrames, const Others ... others)
	Remove ShapeFrames, and also remove ShapeFrames of other various objects.

template<typename... Others>
void	removeShapeFramesOf (const CollisionGroup otherGroup, const Others ... others)
	Remove ShapeFrames of other CollisionGroup, and also remove another ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const dynamics::BodyNode bodyNode, const Others ... others)
	Remove ShapeFrames of BodyNode, and also remove another ShapeFrames of other various objects. More...

template<typename... Others>
void	removeShapeFramesOf (const dynamics::MetaSkeleton skeleton, const Others ... others)
	Remove ShapeFrames of MetaSkeleton, and also remove another ShapeFrames of other various objects. More...

void	removeShapeFramesOf ()
	Do nothing. More...

void	removeAllShapeFrames ()
	Remove all the ShapeFrames in this CollisionGroup.

template<typename... Others>
void	unsubscribeFrom (const dynamics::BodyNode bodyNode, const Others ... others)
	Unsubscribe from bodyNode. More...

template<typename... Others>
void	unsubscribeFrom (const dynamics::Skeleton skeleton, const Others ... others)
	Unsubscribe from skeleton. More...

bool	hasShapeFrame (const dynamics::ShapeFrame *shapeFrame) const
	Return true if this CollisionGroup contains shapeFrame.

std::size_t	getNumShapeFrames () const
	Return number of ShapeFrames added to this CollisionGroup.

const dynamics::ShapeFrame *	getShapeFrame (std::size_t index) const
	Get the ShapeFrame corresponding to the given index.

bool	collide (const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr)
	Perform collision check within this CollisionGroup.

bool	collide (CollisionGroup otherGroup, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr)
	Perform collision check with other CollisionGroup. More...

double	distance (const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr)
	Get the minimum signed distance between the Shape pairs in this CollisionGroup. More...

double	distance (CollisionGroup otherGroup, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult result=nullptr)
	Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from this CollisionGroup and one from otherGroup). More...

bool	raycast (const Eigen::Vector3d &from, const Eigen::Vector3d &to, const RaycastOption &option=RaycastOption(), RaycastResult *result=nullptr)
	Performs raycast to this collision group. More...

void	setAutomaticUpdate (bool automatic=true)
	Set whether this CollisionGroup will automatically check for updates.

bool	getAutomaticUpdate () const
	Get whether this CollisionGroup is set to automatically check for updates.

void	update ()
	Check whether this CollisionGroup's subscriptions or any of its objects need an update, and then update them if they do. More...

void	removeDeletedShapeFrames ()
	Remove any ShapeFrames that have been deleted. More...

Protected Types
using	ObjectInfoList = std::vector< std::unique_ptr< ObjectInfo > >

Protected Member Functions
void	updateEngineData ()
	Update engine data. More...

virtual void	initializeEngineData ()=0
	Initialize the collision detection engine data such as broadphase algorithm. More...

virtual void	addCollisionObjectToEngine (CollisionObject *object)=0
	Add CollisionObject to the collision detection engine.

virtual void	addCollisionObjectsToEngine (const std::vector< CollisionObject *> &collObjects)=0
	Add CollisionObjects to the collision detection engine.

virtual void	removeCollisionObjectFromEngine (CollisionObject *object)=0
	Remove CollisionObject from the collision detection engine.

virtual void	removeAllCollisionObjectsFromEngine ()=0
	Remove all the CollisionObjects from the collision detection engine.

virtual void	updateCollisionGroupEngineData ()=0
	Update the collision detection engine data such as broadphase algorithm. More...

Protected Attributes
CollisionDetectorPtr	mCollisionDetector
	Collision detector.

ObjectInfoList	mObjectInfoList
	Information about ShapeFrames and CollisionObjects that have been added to this CollisionGroup. More...

Member Function Documentation

◆ addShapeFramesOf() [1/5]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const dynamics::ShapeFrame *	shapeFrame,
		const Others *...	others
	)

Add a ShapeFrame, and also add ShapeFrames of other various objects.

The other various 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 of this function is called. The aftwerward changes of the objects does not affect on this CollisionGroup.

◆ addShapeFramesOf() [2/5]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const CollisionGroup *	otherGroup,
		const Others *...	others
	)

Add ShapeFrames of other CollisionGroup, and also add another ShapeFrames of other various objects.

◆ addShapeFramesOf() [3/5]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const dynamics::BodyNode *	bodyNode,
		const Others *...	others
	)

Add ShapeFrames of BodyNode, and also add another ShapeFrames of other various objects.

◆ addShapeFramesOf() [4/5]

template<typename... Others>

void dart::collision::CollisionGroup::addShapeFramesOf	(	const dynamics::MetaSkeleton *	skeleton,
		const Others *...	others
	)

Add ShapeFrames of MetaSkeleton, and also add another ShapeFrames of other various objects.

◆ addShapeFramesOf() [5/5]

void dart::collision::CollisionGroup::addShapeFramesOf ( )

Do nothing.

This function is for terminating the recursive variadic template function template<typename...> addShapeFramesOf().

◆ collide()

bool dart::collision::CollisionGroup::collide	(	CollisionGroup *	otherGroup,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

Perform collision check with other CollisionGroup.

Return false if the engine type of the other CollisionGroup is different from this CollisionObject engine.

◆ distance() [1/2]

double dart::collision::CollisionGroup::distance	(	const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

Get the minimum signed distance between the Shape pairs in this CollisionGroup.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

◆ distance() [2/2]

double dart::collision::CollisionGroup::distance	(	CollisionGroup *	otherGroup,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from this CollisionGroup and one from otherGroup).

Note that the distance between shapes within the same CollisionGroup are not accounted.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

◆ initializeEngineData()

virtual void dart::collision::CollisionGroup::initializeEngineData ( )

protectedpure virtual

Initialize the collision detection engine data such as broadphase algorithm.

This function will be called whenever ShapeFrame is either added to or removed from this CollisionGroup.

Implemented in dart::collision::FCLCollisionGroup, dart::collision::BulletCollisionGroup, dart::collision::OdeCollisionGroup, and dart::collision::DARTCollisionGroup.

◆ raycast()

bool dart::collision::CollisionGroup::raycast	(	const Eigen::Vector3d &	from,
		const Eigen::Vector3d &	to,
		const RaycastOption &	option = `RaycastOption()`,
		RaycastResult *	result = `nullptr`
	)

Performs raycast to this collision group.

Parameters

[in]	from	The start point of the ray in world coordinates.
[in]	to	The end point of the ray in world coordinates.
[in]	option	The raycast option.
[in]	result	The raycast result.

Returns: True if the ray hit an collision object.

◆ removeDeletedShapeFrames()

void dart::collision::CollisionGroup::removeDeletedShapeFrames ( )

Remove any ShapeFrames that have been deleted.

This will be done automatically for ShapeFrames that belong to subscriptions.

Returns true if one or more ShapeFrames were removed; otherwise returns false.

◆ removeShapeFrame()

void dart::collision::CollisionGroup::removeShapeFrame ( const dynamics::ShapeFrame * shapeFrame )

Remove a ShapeFrame from this CollisionGroup.

If this ShapeFrame was being provided by any subscriptions, then calling this function will unsubscribe from those subscriptions, because otherwise this ShapeFrame would simply be put back into the CollisionGroup the next time the group gets updated.

◆ removeShapeFramesOf() [1/5]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const dynamics::ShapeFrame *	shapeFrame,
		const Others *...	others
	)

Remove a ShapeFrame, and also remove ShapeFrames of other various objects.

The other various objects can be any of ShapeFrame, std::vector<ShapeFrame>, CollisionGroup, BodyNode, and Skeleton.

Note that this function removes only the ShapeFrames of each object at the moment of this function is called. The aftwerward changes of the objects does not affect on this CollisionGroup.

◆ removeShapeFramesOf() [2/5]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const CollisionGroup *	otherGroup,
		const Others *...	others
	)

Remove ShapeFrames of other CollisionGroup, and also remove another ShapeFrames of other various objects.

If this CollisionGroup is subscribed to otherGroup, then this function will also unsubscribe from it.

◆ removeShapeFramesOf() [3/5]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const dynamics::BodyNode *	bodyNode,
		const Others *...	others
	)

Remove ShapeFrames of BodyNode, and also remove another ShapeFrames of other various objects.

If this CollisionGroup is subscribed to bodyNode, then this function will also unsubscribe from it.

◆ removeShapeFramesOf() [4/5]

template<typename... Others>

void dart::collision::CollisionGroup::removeShapeFramesOf	(	const dynamics::MetaSkeleton *	skeleton,
		const Others *...	others
	)

Remove ShapeFrames of MetaSkeleton, and also remove another ShapeFrames of other various objects.

If this CollisionGroup is subscribed to skeleton, then this function will also unsubscribe from it.

◆ removeShapeFramesOf() [5/5]

void dart::collision::CollisionGroup::removeShapeFramesOf ( )

Do nothing.

This function is for terminating the recursive variadic template function template<typename...> removeShapeFramesOf().

◆ subscribeTo() [1/3]

template<typename... Others>

void dart::collision::CollisionGroup::subscribeTo	(	const dynamics::ConstBodyNodePtr &	bodyNode,
		const Others &...	others
	)

Add ShapeFrames of bodyNode, and also subscribe to the BodyNode so that the results from this CollisionGroup automatically reflect any changes that are made to bodyNode.

This does likewise for the objects in ...others.

◆ subscribeTo() [2/3]

template<typename... Others>

void dart::collision::CollisionGroup::subscribeTo	(	const dynamics::ConstSkeletonPtr &	skeleton,
		const Others &...	others
	)

Add ShapeFrames of skeleton, and also subscribe to the Skeleton so that the results from this CollisionGroup automatically reflect any changes that are made to skeleton.

This does likewise for the objects in ...others.

◆ subscribeTo() [3/3]

void dart::collision::CollisionGroup::subscribeTo ( )

Do nothing.

This function is for terminating the recursive variadic template.

◆ unsubscribeFrom() [1/2]

template<typename... Others>

void dart::collision::CollisionGroup::unsubscribeFrom	(	const dynamics::BodyNode *	bodyNode,
		const Others *...	others
	)

Unsubscribe from bodyNode.

The ShapeFrames of the BodyNode will also be removed if no other source is requesting them for this group.

◆ unsubscribeFrom() [2/2]

template<typename... Others>

void dart::collision::CollisionGroup::unsubscribeFrom	(	const dynamics::Skeleton *	skeleton,
		const Others *...	others
	)

Unsubscribe from skeleton.

The ShapeFrames of the skeleton will also be removed if no other source is requesting them for this group.

◆ update()

void dart::collision::CollisionGroup::update ( )

Check whether this CollisionGroup's subscriptions or any of its objects need an update, and then update them if they do.

If automatic updating is turned on, then this will be called each time collide() is.

This can be called manually in order to control when collision objects get created or destroyed. Those procedures can be time-consuming, so it may be useful to control when it occurs.

◆ updateCollisionGroupEngineData()

virtual void dart::collision::CollisionGroup::updateCollisionGroupEngineData ( )

protectedpure virtual

Update the collision detection engine data such as broadphase algorithm.

This function will be called ahead of every collision checking.

Implemented in dart::collision::FCLCollisionGroup, dart::collision::BulletCollisionGroup, dart::collision::OdeCollisionGroup, and dart::collision::DARTCollisionGroup.

◆ updateEngineData()

void dart::collision::CollisionGroup::updateEngineData ( )

protected

Update engine data.

This function should be called before the collision detection is performed by the engine in most cases.

Member Data Documentation

◆ mObjectInfoList

ObjectInfoList dart::collision::CollisionGroup::mObjectInfoList

protected

Information about ShapeFrames and CollisionObjects that have been added to this CollisionGroup.

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

dart/dynamics/CollisionGroup.hpp
dart/dynamics/CollisionGroup.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ addShapeFramesOf() [1/5]

◆ addShapeFramesOf() [2/5]

◆ addShapeFramesOf() [3/5]

◆ addShapeFramesOf() [4/5]

◆ addShapeFramesOf() [5/5]

◆ collide()

◆ distance() [1/2]

◆ distance() [2/2]

◆ initializeEngineData()

◆ raycast()

◆ removeDeletedShapeFrames()

◆ removeShapeFrame()

◆ removeShapeFramesOf() [1/5]

◆ removeShapeFramesOf() [2/5]

◆ removeShapeFramesOf() [3/5]

◆ removeShapeFramesOf() [4/5]

◆ removeShapeFramesOf() [5/5]

◆ subscribeTo() [1/3]

◆ subscribeTo() [2/3]

◆ subscribeTo() [3/3]

◆ unsubscribeFrom() [1/2]

◆ unsubscribeFrom() [2/2]

◆ update()

◆ updateCollisionGroupEngineData()

◆ updateEngineData()

Member Data Documentation

◆ mObjectInfoList