Choreonoid  1.1
公開メンバ関数 | 全メンバ一覧
SSVTreeCollider クラス

collision detector based on SSV(Sphere Swept Volume) [詳解]

#include <SSVTreeCollider.h>

SSVTreeCollider の継承関係図

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]
 

詳解

collision detector based on SSV(Sphere Swept Volume)

構築子と解体子

SSVTreeCollider::SSVTreeCollider ( )

constructor

SSVTreeCollider::~SSVTreeCollider ( )
inline

destructor

関数詳解

bool SSVTreeCollider::Collide ( BVTCache &  cache,
double  tolerance,
const Matrix4x4 *  world0 = null,
const Matrix4x4 *  world1 = null 
)

detect collision between links.

引数
cache
toleranceIf distance between links is smaller than this value, it is regarded as collision
world0transformation of the first link
world1transformation of the second link
戻り値
true if collision is detected, false otherwise
bool SSVTreeCollider::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

引数
cache
minDthe minimum distance
point0the closest point on the first link
point1the closest point on the second link
world0transformation of the first link
world1transformation of the second link
戻り値
true if computed successfully, false otherwise

このクラス詳解は次のファイルから抽出されました: