OdeCollisionDetector wraps the ODE collision detector. More...

#include <OdeCollisionDetector.hpp>

Inheritance diagram for dart::collision::OdeCollisionDetector:

Collaboration diagram for dart::collision::OdeCollisionDetector:

Public Member Functions
virtual	~OdeCollisionDetector ()
	Constructor.

std::shared_ptr< CollisionDetector >	cloneWithoutCollisionObjects () const override
	Create a clone of this CollisionDetector. More...

const std::string &	getType () const override
	Return collision detection engine type as a std::string.

std::unique_ptr< CollisionGroup >	createCollisionGroup () override
	Create a collision group.

bool	collide (CollisionGroup group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr) override
	Perform collision check for a single group. More...

bool	collide (CollisionGroup group1, CollisionGroup group2, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
	Perform collision check for two groups. More...

double	distance (CollisionGroup group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult result=nullptr) override

double	distance (CollisionGroup group1, CollisionGroup group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override

Public Member Functions inherited from dart::collision::CollisionDetector
virtual	~CollisionDetector ()=default
	Destructor.

std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr ()
	Helper function that creates and returns CollisionGroup as a shared_ptr. More...

template<typename... Args>
std::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...

template<typename... Args>
std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr (const Args &... args)
	Helper function that creates and returns CollisionGroup as shared_ptr.

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

Static Public Member Functions
static std::shared_ptr< OdeCollisionDetector >	create ()

static const std::string &	getStaticType ()
	Get collision detector type for this class.

Static Public Member Functions inherited from dart::collision::CollisionDetector
static Factory *	getFactory ()
	Returns the singleton factory.

Protected Member Functions
	OdeCollisionDetector ()
	Constructor.

std::unique_ptr< CollisionObject >	createCollisionObject (const dynamics::ShapeFrame *shapeFrame) override
	Create CollisionObject.

void	refreshCollisionObject (CollisionObject *object) override
	Update the collision geometry of a ShapeFrame.

dWorldID	getOdeWorldId () const

Protected Member Functions inherited from dart::collision::CollisionDetector
	CollisionDetector ()=default
	Constructor.

std::shared_ptr< CollisionObject >	claimCollisionObject (const dynamics::ShapeFrame *shapeFrame)
	Claim CollisionObject associated with shapeFrame. More...

virtual void	notifyCollisionObjectDestroying (CollisionObject *object)
	Notify that a CollisionObject is destroying. Do nothing by default.

Protected Attributes
dWorldID	mWorldId
	Top-level world for all bodies.

Protected Attributes inherited from dart::collision::CollisionDetector
std::unique_ptr< CollisionObjectManager >	mCollisionObjectManager

Friends
class	OdeCollisionObject

Additional Inherited Members
Public Types inherited from dart::collision::CollisionDetector
using	Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr< CollisionDetector > >

using	SingletonFactory = common::Singleton< Factory >

template<typename Derived >
using	Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr< CollisionDetector > >

Detailed Description

OdeCollisionDetector wraps the ODE collision detector.

The supported collision shape types are sphere, box, capsule, cylinder, plane, and trimesh.

ODE additionally supports ray and heightfiled, but DART doesn't support them yet.

Member Function Documentation

◆ cloneWithoutCollisionObjects()

std::shared_ptr< CollisionDetector > dart::collision::OdeCollisionDetector::cloneWithoutCollisionObjects ( ) const

overridevirtual

Create a clone of this CollisionDetector.

All the properties will be copied over, but not collision objects.

Implements dart::collision::CollisionDetector.

◆ collide() [1/2]

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

overridevirtual

Perform collision check for a single group.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ collide() [2/2]

bool dart::collision::OdeCollisionDetector::collide	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for two groups.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ distance() [1/2]

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

overridevirtual

Warning: Not implemented yet.

Implements dart::collision::CollisionDetector.

◆ distance() [2/2]

double dart::collision::OdeCollisionDetector::distance	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Warning: Not implemented yet.

Implements dart::collision::CollisionDetector.

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

dart/dynamics/ode/OdeCollisionDetector.hpp
dart/dynamics/ode/OdeCollisionDetector.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ cloneWithoutCollisionObjects()

◆ collide() [1/2]

◆ collide() [2/2]

◆ distance() [1/2]

◆ distance() [2/2]