An interface that defines methods to test collision between two objects. More...

#include <CollisionStrategy.hpp>

Inherited by ProximityStrategyRW, ProximityStrategyBullet, ProximityStrategyFCL, ProximityStrategyPQP, and ProximityStrategyYaobi.

Classes
struct	Contact
	describes a simple collision contact data structure More...

class	Factory
	A factory for a CollisionStrategy. This factory also defines an ExtensionPoint. More...

Public Types
enum	QueryType { FirstContact , AllContacts }
	the type of query that is to be performed

typedef rw::core::Ptr< CollisionStrategy >	Ptr
	smart pointer type to this class

using	Result = CollisionResult

Public Types inherited from ProximityStrategy
typedef rw::core::Ptr< ProximityStrategy >	Ptr
	smart pointer type to this class

Public Member Functions
virtual	~CollisionStrategy ()
	Destroys object.

bool	inCollision (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, QueryType type=FirstContact)
	Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision. More...

bool	inCollision (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, class ProximityStrategyData &data, QueryType type=FirstContact)
	Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision. More...

bool	inCollision (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, ProximityStrategyData &data)
	Checks to see if two proximity models are in collision. More...

virtual void	getCollisionContacts (std::vector< CollisionStrategy::Contact > &contacts, ProximityStrategyData &data)=0
	this method interprets the collision query result and calculates a list of contacts to represent the collision geometry between the colliding geometries. More...

Public Member Functions inherited from ProximityStrategy
virtual	~ProximityStrategy ()
	Destructor.

virtual bool	addModel (rw::core::Ptr< rw::models::Object > object)
	Adds a Proximity model of a frame to this strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, const rw::geometry::Geometry &faces)
	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false)
	Adds a Proximity model to a frame. More...

virtual bool	hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Tells whether the frame has a proximity model in the strategy. More...

virtual void	clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Clear (remove all) model information for frame frame.

virtual void	clearFrames ()
	Clear (remove all) model information for all frames.

ProximityModel::Ptr	getModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

virtual ProximityModel::Ptr	createModel ()=0
	creates an empty ProximityModel

virtual void	destroyModel (ProximityModel *model)=0
	deallocates the memory used for model More...

virtual bool	addGeometry (ProximityModel *model, const rw::geometry::Geometry &geom)=0
	adds geometry to a specific proximity model. The proximity strategy copies all data of the geometry. More...

virtual bool	addGeometry (ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)=0
	adds geometry to a specific model. Depending on the option forceCopy the proximity strategy may choose to copy the geometry data or use it directly. More...

virtual bool	removeGeometry (ProximityModel *model, const std::string &geomId)=0
	removes a geometry from a specific proximity model

virtual std::vector< std::string >	getGeometryIDs (ProximityModel *model)=0
	the list of all geometry ids that are associated to the proximity model model is returned More...

virtual std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)=0
	the list of all geometry that are associated to the proximity model model is returned More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

virtual void	clear ()=0
	Clears any stored model information.

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Static Public Member Functions
static CollisionStrategy::Ptr	make (rw::core::Ptr< CollisionToleranceStrategy > strategy, double tolerance)
	A collision strategy constructed from a collision tolerance strategy and a resolution. More...

static CollisionStrategy::Ptr	make (rw::core::Ptr< CollisionToleranceStrategy > strategy, const rw::kinematics::FrameMap< double > &frameToTolerance, double defaultTolerance)
	A collision strategy constructed from a collision tolerance strategy and a resolution. More...

Protected Member Functions
virtual bool	doInCollision (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, ProximityStrategyData &data)=0
	Checks to see if two proximity models are in collision. More...

	CollisionStrategy ()
	Creates object.

Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Additional Inherited Members
Protected Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use

Detailed Description

An interface that defines methods to test collision between two objects.

Member Function Documentation

◆ doInCollision()

virtual bool doInCollision	(	ProximityModel::Ptr	a,
		const math::Transform3D< double > &	wTa,
		ProximityModel::Ptr	b,
		const math::Transform3D< double > &	wTb,
		ProximityStrategyData &	data
	)

protectedpure virtual

Checks to see if two proximity models are in collision.

Parameters

a	[in] model 1
wTa	[in] transform of model a
b	[in] model 2
wTb	[in] transform of model b
data	[in/out] caching and result container

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ getCollisionContacts()

virtual void getCollisionContacts	(	std::vector< CollisionStrategy::Contact > &	contacts,
		ProximityStrategyData &	data
	)

pure virtual

this method interprets the collision query result and calculates a list of contacts to represent the collision geometry between the colliding geometries.

Please note that for most collisions a single point and normal is not sufficient to describe the complete collision area. However, it is typically a reasonable approximation. The approximation can hence be implementation specific.

Parameters

contacts	[out] list of contacts that can be calculated from data
data	[in] the result from the collision query

Implemented in ProximityStrategyYaobi, ProximityStrategyPQP, ProximityStrategyFCL, and ProximityStrategyRW.

◆ inCollision() [1/3]

bool inCollision	(	const rw::core::Ptr< kinematics::Frame >	a,
		const math::Transform3D< double > &	wTa,
		const rw::core::Ptr< kinematics::Frame >	b,
		const math::Transform3D< double > &	wTb,
		class ProximityStrategyData &	data,
		QueryType	type = `FirstContact`
	)

Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision.

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
data	[in/out] caching and result container
type	[in] collision query type

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ inCollision() [2/3]

bool inCollision	(	const rw::core::Ptr< kinematics::Frame >	a,
		const math::Transform3D< double > &	wTa,
		const rw::core::Ptr< kinematics::Frame >	b,
		const math::Transform3D< double > &	wTb,
		QueryType	type = `FirstContact`
	)

Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision.

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
type	[in] collision query type

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ inCollision() [3/3]

bool inCollision	(	ProximityModel::Ptr	a,
		const math::Transform3D< double > &	wTa,
		ProximityModel::Ptr	b,
		const math::Transform3D< double > &	wTb,
		ProximityStrategyData &	data
	)

Checks to see if two proximity models are in collision.

Parameters

a	[in] model 1
wTa	[in] transform of model a
b	[in] model 2
wTb	[in] transform of model b
data	[in/out] caching and result container

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ make() [1/2]

static CollisionStrategy::Ptr make	(	rw::core::Ptr< CollisionToleranceStrategy >	strategy,
		const rw::kinematics::FrameMap< double > &	frameToTolerance,
		double	defaultTolerance
	)

static

A collision strategy constructed from a collision tolerance strategy and a resolution.

The constructed collision strategy considers a pair of geometries to be in collision if strategy claim they are in collision for a tolerance of tolerance.

◆ make() [2/2]

static CollisionStrategy::Ptr make	(	rw::core::Ptr< CollisionToleranceStrategy >	strategy,
		double	tolerance
	)

static

A collision strategy constructed from a collision tolerance strategy and a resolution.

The constructed collision strategy considers a pair of geometries to be in collision if strategy claim they are in collision for a tolerance of tolerance.

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

CollisionStrategy.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ doInCollision()

◆ getCollisionContacts()

◆ inCollision() [1/3]

◆ inCollision() [2/3]

◆ inCollision() [3/3]

◆ make() [1/2]

◆ make() [2/2]