Choreonoid
1.1
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collision detector based on SSV(Sphere Swept Volume) [詳解]
#include <SSVTreeCollider.h>
公開メンバ関数 | |
SSVTreeCollider () | |
constructor [詳解] | |
~SSVTreeCollider () | |
destructor [詳解] | |
bool | Distance (BVTCache &cache, float &minD, Point &point0, Point &point1, const Matrix4x4 *world0=null, const Matrix4x4 *world1=null) |
compute the minimum distance and the closest points [詳解] | |
bool | Collide (BVTCache &cache, double tolerance, const Matrix4x4 *world0=null, const Matrix4x4 *world1=null) |
detect collision between links. [詳解] | |
collision detector based on SSV(Sphere Swept Volume)
SSVTreeCollider::SSVTreeCollider | ( | ) |
constructor
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inline |
destructor
bool SSVTreeCollider::Collide | ( | BVTCache & | cache, |
double | tolerance, | ||
const Matrix4x4 * | world0 = null , |
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const Matrix4x4 * | world1 = null |
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) |
detect collision between links.
cache | |
tolerance | If distance between links is smaller than this value, it is regarded as collision |
world0 | transformation of the first link |
world1 | transformation of the second link |
bool SSVTreeCollider::Distance | ( | BVTCache & | cache, |
float & | minD, | ||
Point & | point0, | ||
Point & | point1, | ||
const Matrix4x4 * | world0 = null , |
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const Matrix4x4 * | world1 = null |
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) |
compute the minimum distance and the closest points
cache | |
minD | the minimum distance |
point0 | the closest point on the first link |
point1 | the closest point on the second link |
world0 | transformation of the first link |
world1 | transformation of the second link |