This is a strategy wrapper for the collision library Yaobi. More...

#include <ProximityStrategyYaobi.hpp>

Public Member Functions
	ProximityStrategyYaobi ()
	Constructor.

virtual rw::proximity::ProximityModel::Ptr	createModel ()
	creates an empty ProximityModel More...

void	destroyModel (rw::proximity::ProximityModel *model)
	deallocates the memory used for model More...

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

bool	addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)

bool	removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)
	removes a geometry from a specific proximity model More...

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

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

void	clear ()
	Clears any stored model information. More...

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

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...

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

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

Static Public Member Functions
static rw::proximity::CollisionStrategy::Ptr	make ()
	Makes a Yaobi based collision strategy.

Static Public Member Functions inherited from CollisionStrategy
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
bool	doInCollision (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, rw::proximity::ProximityStrategyData &data)
	Checks to see if two proximity models are in collision. More...

Protected Member Functions inherited from CollisionStrategy
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
Public Types inherited from CollisionStrategy
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

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

Detailed Description

This is a strategy wrapper for the collision library Yaobi.

Yaobi use Oriented Bounding Boxes (OBB) and hierachical bounding trees for fast collision detection between triangulated objects.

For further information check out http://sourceforge.net/projects/yaobi

Member Function Documentation

◆ addGeometry() [1/2]

bool addGeometry	(	rw::proximity::ProximityModel *	model,
		const rw::geometry::Geometry &	geom
	)

virtual

adds geometry to a specific proximity model. The proximity strategy copies all data of the geometry.

Parameters

model	[in] the proximity model to add data to
geom	[in] the geometry that is to be added

Implements ProximityStrategy.

◆ addGeometry() [2/2]

bool addGeometry	(	rw::proximity::ProximityModel *	model,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = `false`
	)

virtual

Parameters

model
geom
forceCopy

Returns

Implements ProximityStrategy.

◆ clear()

void clear ( )

virtual

Clears any stored model information.

Implements ProximityStrategy.

◆ createModel()

virtual rw::proximity::ProximityModel::Ptr createModel ( )

virtual

creates an empty ProximityModel

Implements ProximityStrategy.

◆ destroyModel()

void destroyModel ( rw::proximity::ProximityModel * model )

virtual

deallocates the memory used for model

Parameters

model

Implements ProximityStrategy.

◆ doInCollision()

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

protected

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()

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

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

Implements CollisionStrategy.

◆ getGeometries()

std::vector<rw::core::Ptr<rw::geometry::Geometry> > getGeometries ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry associated to the proximity model

Implements ProximityStrategy.

◆ getGeometryIDs()

std::vector<std::string> getGeometryIDs ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry ids that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry ids associated to the proximity model

Implements ProximityStrategy.

◆ removeGeometry()

bool removeGeometry	(	rw::proximity::ProximityModel *	model,
		const std::string &	geomId
	)

virtual

removes a geometry from a specific proximity model

Implements ProximityStrategy.

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

ProximityStrategyYaobi.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ clear()

◆ createModel()

◆ destroyModel()

◆ doInCollision()

◆ getCollisionContacts()

◆ getGeometries()

◆ getGeometryIDs()

◆ removeGeometry()