CollisionDetectionMethod Class Reference

#include <CollisionDetectionMethod.h>

Inheritance diagram for CollisionDetectionMethod:

Collaboration diagram for CollisionDetectionMethod:

Public Member Functions
Construction
	CollisionDetectionMethod (const std::string &_name="CD_USER1")
virtual	~CollisionDetectionMethod ()
Accessors
const std::string &	GetName () const
virtual void	Print (std::ostream &_os) const
CD Interface
virtual bool	IsInCollision (const GMSPolyhedron &_polyhedron1, const mathtool::Transformation &_transformation1, const GMSPolyhedron &_polyhedron2, const mathtool::Transformation &_transformation2, CDInfo &_cdInfo)
virtual bool	IsInsideObstacle (const mathtool::Vector3d &_point, const GMSPolyhedron &_polyhedron, const mathtool::Transformation &_transformation)

Protected Attributes
Internal State
std::string	m_name
	Name of the CD method. More...

Detailed Description

Base abstraction for geometric collision detection methods.

Examples

CollisionDetection_UseCase.cpp.

Constructor & Destructor Documentation

CollisionDetectionMethod()

CollisionDetectionMethod::CollisionDetectionMethod

(

const std::string &

_name = "CD_USER1"

)

Parameters

_name

The method name.

~CollisionDetectionMethod()

CollisionDetectionMethod::~CollisionDetectionMethod ( )

virtualdefault

Member Function Documentation

GetName()

const std::string & CollisionDetectionMethod::GetName

(

)

const

Returns

Name of CD Method

IsInCollision()

bool CollisionDetectionMethod::IsInCollision ( const GMSPolyhedron &  _polyhedron1, const mathtool::Transformation &  _transformation1, const GMSPolyhedron &  _polyhedron2, const mathtool::Transformation &  _transformation2, CDInfo &  _cdInfo  )

virtual

Check if two polyhedrons are in collision.

Parameters

_polyhedron1	The first polyhedron.
_transformation1	Transformation for the first polyhedron.
_polyhedron2	The second polyhedron.
_transformation2	Transformation for the second polyhedron.
_cdInfo	Output information from the collision computation.

Returns

True if the polyhedrons are considered to be in collision. Some method check only intersection (i.e. Rapid, PQP) while others also check if one polyhedron is inside the other (i.e. PQPSolid).

Reimplemented in InsideSpheres, BoundingSpheres, Rapid, PQPSolid, and PQP.

Examples

CollisionDetection_UseCase.cpp.

IsInsideObstacle()

bool CollisionDetectionMethod::IsInsideObstacle ( const mathtool::Vector3d &  _point, const GMSPolyhedron &  _polyhedron, const mathtool::Transformation &  _transformation  )

virtual

Check if a point is inside of a polyhedron.

Parameters

_point	The point to check.
_polyhedron	The polyhedron to check against.
_transformation	Transformation for the polyhedron.

Returns

Is the point inside _polyhedron?

Reimplemented in PQPSolid.

Examples

CollisionDetection_UseCase.cpp.

Print()

void CollisionDetectionMethod::Print ( std::ostream &  _os ) const

virtual

Print information to an output stream.

Parameters

_os	The output stream.

Field Documentation

m_name

std::string CollisionDetectionMethod::m_name

protected

Name of the CD method.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/CollisionDetectionMethod.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/CollisionDetectionMethod.cpp