Package org.robwork.sdurw_proximity

Class CollisionStrategy

java.lang.Object

org.robwork.sdurw_proximity.ProximityStrategy

org.robwork.sdurw_proximity.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.CollisionStrategyFactory	A factory for a CollisionStrategy.
static class	CollisionStrategy.Contact	describes a simple collision contact data structure
static class	CollisionStrategy.QueryType	the type of query that is to be performed

Nested classes/interfaces inherited from class org.robwork.sdurw_proximity.ProximityStrategy

ProximityStrategy.ProximityStrategyFactory

Constructor Summary

Constructors

Constructor	Description
CollisionStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
void	getCollisionContacts(SWIGTYPE_p_std__vectorT_rw__proximity__CollisionStrategy__Contact_t contacts, ProximityStrategyData data)	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.
static long	getCPtr(CollisionStrategy obj)
boolean	inCollision(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, CollisionStrategy.QueryType type)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, ProximityStrategyData data)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, ProximityStrategyData data, CollisionStrategy.QueryType type)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(ProximityModelPtr a, Transform3D wTa, ProximityModelPtr b, Transform3D 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_proximity.ProximityStrategy

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

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(FramePtr a,
                           Transform3D wTa,
                           FramePtr b,
                           Transform3D wTb,
                           CollisionStrategy.QueryType 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(FramePtr a,
                           Transform3D wTa,
                           FramePtr b,
                           Transform3D 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(FramePtr a,
                           Transform3D wTa,
                           FramePtr b,
                           Transform3D wTb,
                           ProximityStrategyData data,
                           CollisionStrategy.QueryType 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(FramePtr a,
                           Transform3D wTa,
                           FramePtr b,
                           Transform3D 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,
                           Transform3D wTa,
                           ProximityModelPtr b,
                           Transform3D 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.

getCollisionContacts

public void getCollisionContacts(SWIGTYPE_p_std__vectorT_rw__proximity__CollisionStrategy__Contact_t contacts,
                                 ProximityStrategyData data)

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

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.