RobWorkProject  23.9.11-
Classes | Static Public Member Functions | List of all members
BVTreeColliderFactory Class Reference

factory for creating tree colliders. More...

#include <BVTreeColliderFactory.hpp>

Classes

struct  BalancedDescentStrategy
 balanced descent strategy. The previous descent choice is saved and the oposite is choosen if More...
 
struct  BVDescentStrategy
 template base class to deside which node to descent into. More...
 
struct  MaxAreaDescentStrategy
 

Static Public Member Functions

template<class BVTREE >
static rw::proximity::BVTreeCollider< BVTREE > * makeBalancedDFSColliderOBB ()
 creates a tree collider that performes depth first search of bv collisions between two hierarchical trees. The search is balanced in the way that it equally switches between descending in the trees. More...
 
template<class BVTREE , class PRIMCOLLIDER >
static rw::proximity::BVTreeCollider< BVTREE > * makeBalancedDFSColliderOBB (PRIMCOLLIDER *primcollider)
 Creates a tree collider that performes depth first search of bv collisions between two hierarchical trees. The search is balanced in the way that it equally switches between descending in the trees. More...
 
template<class BVTREE , class COLLIDER , class DESCENT_STRATEGY >
static rw::proximity::BVTreeCollider< BVTREE > * makeDFSCollider (COLLIDER *bvcollider, DESCENT_STRATEGY *dstrat)
 creates a depth first search tree collider for trees that use triangles for primitives. More...
 
template<class BVTREE , class COLLIDER , class DESCENT_STRATEGY , class PRIMCOLLIDER >
static rw::proximity::BVTreeCollider< BVTREE > * makeDFSCollider (COLLIDER *bvcollider, PRIMCOLLIDER *primcollider, DESCENT_STRATEGY *dstrat)
 creates a depth first search tree collider for trees that use triangles for primitives. More...
 

Detailed Description

factory for creating tree colliders.

Member Function Documentation

◆ makeBalancedDFSColliderOBB() [1/2]

static rw::proximity::BVTreeCollider<BVTREE>* makeBalancedDFSColliderOBB ( )
inlinestatic

creates a tree collider that performes depth first search of bv collisions between two hierarchical trees. The search is balanced in the way that it equally switches between descending in the trees.

Returns
collider for checking if the bounding volume trees overlap.

◆ makeBalancedDFSColliderOBB() [2/2]

static rw::proximity::BVTreeCollider<BVTREE>* makeBalancedDFSColliderOBB ( PRIMCOLLIDER *  primcollider)
inlinestatic

Creates a tree collider that performes depth first search of bv collisions between two hierarchical trees. The search is balanced in the way that it equally switches between descending in the trees.

Parameters
primcolliderthe primitive collider to use.
Returns
collider for checking if the bounding volume trees overlap.

◆ makeDFSCollider() [1/2]

static rw::proximity::BVTreeCollider<BVTREE>* makeDFSCollider ( COLLIDER *  bvcollider,
DESCENT_STRATEGY *  dstrat 
)
inlinestatic

creates a depth first search tree collider for trees that use triangles for primitives.

Parameters
bvcollider
dstrat
Returns

◆ makeDFSCollider() [2/2]

static rw::proximity::BVTreeCollider<BVTREE>* makeDFSCollider ( COLLIDER *  bvcollider,
PRIMCOLLIDER *  primcollider,
DESCENT_STRATEGY *  dstrat 
)
inlinestatic

creates a depth first search tree collider for trees that use triangles for primitives.

Parameters
bvcollider
primcollider
dstrat
Returns

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