rw::proximity Namespace Reference

Interfaces for collision checking and distance calculation. More...

Classes
class	BVDistanceCalc
class	SphereDistanceCalc
	class for testing if two Oriented Bounding Boxes are overlapping More...
class	BasicFilterStrategy
	a simple rule based broadphase filter strategy. A static frame pair list of frame pairs that is to be checked for collision is maintained. The list is static in the sense that it is not optimized to be changed. However the user can both add and remove new geometries and rules. More...
class	CollisionDetector
	The CollisionDetector implements an efficient way of checking a complete frame tree for collisions. More...
struct	CollisionResult
	result of a single collision pair More...
class	CollisionSetup
	Setup for the collision checker. More...
class	CollisionStrategy
	An interface that defines methods to test collision between two objects. More...
class	CollisionToleranceStrategy
	This is a collision strategy that detects collisions between objects that are closer than a specified tolerance. More...
class	DistanceCalculator
	The DistanceCalculator implements an efficient way of calculating different distances between two objects, each represented by a frame. More...
class	DistanceMultiStrategy
	This interface allows the definition of computing all points between two geometric objects that are closer than a specified tolerance. See ProxmityStrategy on how to add geometry to the strategy. More...
class	DistanceStrategy
	This is an interface that defines methods for computing the minimum distance between geometric objects. If geometry objects has been related to frames (see ProximityStrategy) then distance functions computing the distance between the geometry attached to frames can also be used. More...
class	ProximityCache
	Interface for cache used by ProximityStrategy. More...
class	ProximityCalculator
	The Proximity calculator implements an efficient and standardized way of using the following proximity strategies: More...
class	ProximityData
	Holds settings and cached data for collision detectors. More...
class	ProximityFilter
	this class is used for fetching frame pairs using some proximity filtering strategy. More...
class	ProximityFilterStrategy
	describe the interface of a broad phase proximity strategy or proximity culler. More...
class	ProximityModel
	Class for managing the collision geometries associated to a frame. More...
class	ProximitySetup
	Setup for the collision checker. More...
class	ProximitySetupRule
	Rule specifying include/exclude of frame pairs. More...
class	ProximityStrategy
	The ProximityStrategy interface is a clean interface for defining methods that are common for different proximity strategy classes. Specifically adding of geometric models and relating them to frames. More...
class	ProximityStrategyData
class	Raycaster
	a raycast implementation that relies on a collision strategy for finding the collision between the ray and the scene. More...
class	BTPNode
	this node class stores the bv implicitly and use explicit pointers to its child nodes. This is an inefficient storage method and for general usage the other types should be used. However, there is only a small overhead for adding and deleting nodes so for very dynamic uses this might still be applicable. More...
class	BinaryBVTree
	a generic pointer based tree structure. This is not the most efficient structure for bounding volume trees. though it is quite generic and easy to work with because of its pointer based structure. More...
struct	PrimArrayAccessor
	Interface for accessing primitives. More...
struct	BVTreeIterator
class	BVTree
	this implementation defines a BVTree structure that use an indexed based storage representation. The implementation does not include functionality for building a BVTree. It is a data structure for accessing nodes in a bounding volume tree. More...
class	BVTreeCollider
	this class encapsulates the methods for iterating through two hierachical OBV trees while testing if the BV's are disjoint. More...
class	BVTreeColliderFactory
	factory for creating tree colliders. More...
class	BVTreeFactory
	factory for creating bounding volume trees. More...
class	BVTreeToleranceCollider
	this class encapsulates the methods for iterating through two hierachical OBV trees while testing if the OBV's are disjoint by more than a specified tolerance. More...
class	OBVTreeDFSCollider
	this tree collider is used for oriented bounding volumes. The collider traverse the trees in a depth first manner. The DESCENTSTRATEGY is used to choose which node the traversal should pick first. The collider only works on trees of the same type. The BVCOLLIDER and PRIMCOLLIDER is used to check is bounding volumes or primitives are colliding. More...
class	ProximityStrategyRW
	This is a strategy wrapper for the distance library PQP (Proximity Query Package). More...
class	SAPFilterStrategy
	This is a Sweep-And-Prune based filter strategy (broadphase strategy). More...
class	TreeDistanceCalc
	this class encapsulates the methods for iterating through two hierachical BV trees and finding the smallest distance between any triangle in the trees. More...

Typedefs
typedef rw::proximity::DistanceStrategy::Result	DistanceResult
typedef rw::proximity::DistanceMultiStrategy::Result	MultiDistanceResult
typedef BinaryBVTree< rw::geometry::OBB<>, rw::geometry::Triangle<> >	BinaryOBBPtrTreeD
typedef BinaryBVTree< rw::geometry::OBB< float >, rw::geometry::Triangle< float > >	BinaryOBBPtrTreeF

Detailed Description

Interfaces for collision checking and distance calculation.