Package org.robwork.sdurw

Class CollisionStrategy

java.lang.Object

org.robwork.sdurw.ProximityStrategy

org.robwork.sdurw.CollisionStrategy

public class CollisionStrategy
extends ProximityStrategy

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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CollisionStrategy.Contact

Constructor Summary

Constructors

Constructor	Description
CollisionStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(CollisionStrategy obj)
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, CollisionStrategyQueryType type)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, ProximityStrategyData data)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, ProximityStrategyData data, CollisionStrategyQueryType type)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, ProximityStrategyData data)	Checks to see if two proximity models are in collision
static CollisionStrategyPtr	make(CollisionToleranceStrategyPtr strategy, double tolerance)	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.
static CollisionStrategyPtr	make(CollisionToleranceStrategyPtr strategy, FrameMap frameToTolerance, double defaultTolerance)	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.

Methods inherited from class org.robwork.sdurw.ProximityStrategy

addGeometry, addGeometry, addGeometry, addModel, addModel, addModel, addModel, clear, clearFrame, clearFrames, createModel, destroyModel, getCPtr, getGeometryIDs, getModel, hasModel, removeGeometry

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionStrategy

public CollisionStrategy(long cPtr,
                         boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(CollisionStrategy obj)

delete

public void delete()

Overrides:

delete in class ProximityStrategy

inCollision

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb,
                           CollisionStrategyQueryType type)

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

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb)

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}}

Returns:

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

inCollision

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb,
                           ProximityStrategyData data,
                           CollisionStrategyQueryType type)

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

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb,
                           ProximityStrategyData data)

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

Returns:

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

inCollision

public boolean inCollision(ProximityModelPtr a,
                           Transform3Dd wTa,
                           ProximityModelPtr b,
                           Transform3Dd 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

public static CollisionStrategyPtr make(CollisionToleranceStrategyPtr strategy,
                                        double tolerance)

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

public static CollisionStrategyPtr make(CollisionToleranceStrategyPtr strategy,
                                        FrameMap frameToTolerance,
                                        double defaultTolerance)

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.