Package org.robwork.sdurw

Class CollisionDetector

java.lang.Object

org.robwork.sdurw.CollisionDetector

public class CollisionDetector
extends java.lang.Object

The CollisionDetector implements an efficient way of checking a
complete frame tree for collisions.

It relies on a BroadPhaseDetector to do initial filtering which removes obviously not
colliding frame pairs.

After the filtering the remaining frame pairs are tested for collision using an
CollisionStrategy which is a narrow phase collision detector.

The collision detector does not dictate a specific detection
strategy or algorithm, instead it relies on the CollisionStrategy interface for
the actual collision checking between two frames.

Note: The collision detector is not thread safe and as such should not be used by multiple
threads at a time.

Constructor Summary

Constructors

Constructor	Description
CollisionDetector(long cPtr, boolean cMemoryOwn)
CollisionDetector(WorkCellPtr workcell)	Collision detector for a workcell with only broad-phase collision checking. The default collision setup stored in the workcell is used for broad phase collision filtering as a static filter list. Notice that no narrow phase checking is performed. If broad-phase filter returns any frame-pairs, this will be taken as a collision.
CollisionDetector(WorkCellPtr workcell, CollisionStrategyPtr strategy)	Collision detector for a workcell. The collision detector is initialized with the strategy . Notice that the collision detector will create and store models inside the strategy . The default collision setup stored in the workcell is used for broad phase collision filtering as a static filter list.
CollisionDetector(WorkCellPtr workcell, CollisionStrategyPtr strategy, ProximityFilterStrategyPtr filter)	Collision detector for a workcell. Collision checking is done for the provided collision setup alone.

Method Summary

Modifier and Type	Method	Description
void	addGeometry(Frame frame, GeometryPtr geometry)	Add Geometry associated to frame The current shape of the geometry is copied, hence later changes to geometry has no effect
void	addRule(ProximitySetupRule rule)	Adds rule specifying inclusion/exclusion of frame pairs in collision detection
void	delete()
CollisionStrategyPtr	getCollisionStrategy()	Get the narrow-phase collision strategy.
double	getComputationTime()	Get the computation time used in the inCollision functions.
static long	getCPtr(CollisionDetector obj)
VectorString	getGeometryIDs(Frame frame)	return the ids of all the geometries of this frames.
int	getNoOfCalls()	Get the number of times the inCollision functions have been called.
ProximityFilterStrategyPtr	getProximityFilterStrategy()	The broad phase collision strategy of the collision checker.
boolean	hasGeometry(Frame frame, java.lang.String geometryId)	Returns whether frame has an associated geometry with geometryId.
boolean	inCollision(State state)	Check the workcell for collisions.
boolean	inCollision(State state, FramePairVector result)	Check the workcell for collisions.
boolean	inCollision(State state, FramePairVector result, boolean stopAtFirstContact)	Check the workcell for collisions.
boolean	inCollision(State state, CollisionDetectorQueryResult result)	Check the workcell for collisions.
boolean	inCollision(State state, CollisionDetectorQueryResult result, boolean stopAtFirstContact)	Check the workcell for collisions.
boolean	inCollision(State state, ProximityData data)	Check the workcell for collisions.
static CollisionDetectorPtr	make(WorkCellPtr workcell, CollisionStrategyPtr strategy)
void	removeGeometry(Frame frame, java.lang.String geometryId)	Removes geometry from CollisionDetector The geometryId is used to match the collision model to the geometry.
void	removeGeometry(Frame frame, GeometryPtr geometry)	Removes geometry from CollisionDetector The id of the geometry is used to match the collision model to the geometry.
void	removeRule(ProximitySetupRule rule)	Removes rule specifying inclusion/exclusion of frame pairs in collision detection
void	resetComputationTimeAndCount()	Reset the counter for inCollision invocations and the computation timer.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CollisionDetector

public CollisionDetector(long cPtr,
                         boolean cMemoryOwn)

CollisionDetector

public CollisionDetector(WorkCellPtr workcell)

Collision detector for a workcell with only broad-phase collision checking.

The default collision setup stored in the workcell is used for
broad phase collision filtering as a static filter list.

Notice that no narrow phase checking is performed.
If broad-phase filter returns any frame-pairs, this will be taken as a collision.

Parameters:

workcell - [in] the workcell.

CollisionDetector

public CollisionDetector(WorkCellPtr workcell,
                         CollisionStrategyPtr strategy)

Collision detector for a workcell.

The collision detector is initialized with the strategy .
Notice that the collision detector will create and store models inside the strategy .

The default collision setup stored in the workcell is used for
broad phase collision filtering as a static filter list.

Parameters:

workcell - [in] the workcell.

strategy - [in/out] the strategy for narrow-phase checking. The strategy will have models added to it.

CollisionDetector

public CollisionDetector(WorkCellPtr workcell,
                         CollisionStrategyPtr strategy,
                         ProximityFilterStrategyPtr filter)

Collision detector for a workcell.
Collision checking is done for the provided collision setup alone.

Parameters:

workcell - [in] the workcell.

strategy - [in/out] the strategy for narrow-phase checking. The strategy will have models added to it.

filter - [in] proximity filter used to cull or filter frame-pairs that are obviously not colliding

Method Detail

getCPtr

public static long getCPtr(CollisionDetector obj)

delete

public void delete()

inCollision

public boolean inCollision(State state,
                           ProximityData data)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

data - [in/out] Defines parameters for the collision check, the results and also
enables caching inbetween calls to incollision

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state,
                           CollisionDetectorQueryResult result,
                           boolean stopAtFirstContact)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

result - [out] If non-NULL, the pairs of colliding frames are
inserted in result.

stopAtFirstContact - [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state,
                           CollisionDetectorQueryResult result)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

result - [out] If non-NULL, the pairs of colliding frames are
inserted in result.

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

Returns:

true if a collision is detected; false otherwise.

getProximityFilterStrategy

public ProximityFilterStrategyPtr getProximityFilterStrategy()

The broad phase collision strategy of the collision checker.

getCollisionStrategy

public CollisionStrategyPtr getCollisionStrategy()

Get the narrow-phase collision strategy.

Returns:

the strategy if set, otherwise NULL.

addGeometry

public void addGeometry(Frame frame,
                        GeometryPtr geometry)

Add Geometry associated to frame

The current shape of the geometry is copied, hence later changes to geometry has no effect

Parameters:

frame - [in] Frame to associate geometry to

geometry - [in] Geometry to add

removeGeometry

public void removeGeometry(Frame frame,
                           GeometryPtr geometry)

Removes geometry from CollisionDetector

The id of the geometry is used to match the collision model to the geometry.

Parameters:

frame - [in] The frame which has the geometry associated

geometry - [in] Geometry with the id to be removed

removeGeometry

public void removeGeometry(Frame frame,
                           java.lang.String geometryId)

Removes geometry from CollisionDetector

The geometryId is used to match the collision model to the geometry.

Parameters:

frame - [in] The frame which has the geometry associated

geometryId - [in] Id of geometry to be removed

addRule

public void addRule(ProximitySetupRule rule)

Adds rule specifying inclusion/exclusion of frame pairs in collision detection

removeRule

public void removeRule(ProximitySetupRule rule)

Removes rule specifying inclusion/exclusion of frame pairs in collision detection

getComputationTime

public double getComputationTime()

Get the computation time used in the inCollision functions.

Returns:

the total computation time.

getNoOfCalls

public int getNoOfCalls()

Get the number of times the inCollision functions have been called.

Returns:

number of calls to inCollision functions.

resetComputationTimeAndCount

public void resetComputationTimeAndCount()

Reset the counter for inCollision invocations and the computation timer.

getGeometryIDs

public VectorString getGeometryIDs(Frame frame)

return the ids of all the geometries of this frames.

hasGeometry

public boolean hasGeometry(Frame frame,
                           java.lang.String geometryId)

Returns whether frame has an associated geometry with geometryId.

Parameters:

frame - [in] Frame in question

geometryId - [in] Id of the geometry

inCollision

public boolean inCollision(State state,
                           FramePairVector result,
                           boolean stopAtFirstContact)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

result - [out] Where to store pairs of colliding frames.

stopAtFirstContact - [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state,
                           FramePairVector result)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

result - [out] Where to store pairs of colliding frames.

Returns:

true if a collision is detected; false otherwise.

make

public static CollisionDetectorPtr make(WorkCellPtr workcell,
                                        CollisionStrategyPtr strategy)