Class CollisionToleranceStrategy


  • public class CollisionToleranceStrategy
    extends ProximityStrategy
    This is a collision strategy that detects collisions between objects
    that are closer than a specified tolerance.
    • Constructor Detail

      • CollisionToleranceStrategy

        public CollisionToleranceStrategy​(long cPtr,
                                          boolean cMemoryOwn)
    • Method Detail

      • isWithinDistance

        public boolean isWithinDistance​(FramePtr a,
                                        Transform3D wTa,
                                        FramePtr b,
                                        Transform3D wTb,
                                        double tolerance)
        Checks to see if the geometry attached to two given frames \mathcal{F}_a
        and
        \mathcal{F}_b are closer than the specified tolerance.
        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}}
        tolerance - [in] frames with a distance in between them
        that is less than tolerance are in collision

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

        public boolean isWithinDistance​(FramePtr a,
                                        Transform3D wTa,
                                        FramePtr b,
                                        Transform3D wTb,
                                        double distance,
                                        ProximityStrategyData data)
        Checks to see if the geometry attached to two given frames \mathcal{F}_a
        and
        \mathcal{F}_b are closer than the specified tolerance. Result is cached in data
        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 -
        distance -

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

        public boolean isWithinDistance​(ProximityModelPtr a,
                                        Transform3D wTa,
                                        ProximityModelPtr b,
                                        Transform3D wTb,
                                        double tolerance,
                                        ProximityStrategyData data)
        Checks to see if two proximity models \mathcal{F}_a and
        \mathcal{F}_b are closer than the specified tolerance. Result is cached in data
        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}}
        tolerance - [in] frames with a distance in between them
        that is less than tolerance are in collision
        data -

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