CD_Swiftpp Class Reference

#include <collisiondetectors/CD_Swiftpp.h>

Inherits CD_BasicStyle, and CD_LinearContinuous.

Inheritance diagram for CD_Swiftpp:

[legend]Collaboration diagram for CD_Swiftpp:

[legend]List of all members.

Public Member Functions
	CD_Swiftpp (const Universe &universe)
	CD_Swiftpp (const CD_Swiftpp &right)
virtual	~CD_Swiftpp ()
virtual CollisionDetectorBase *	Clone () const
int	AddMeshToSwiftScene (const Mesh &mesh, const bool bFixed)
bool	AddEntityToSwiftScene (const Entity *entity)
void	DeactivateFrames (const unsigned int frame1, const int frame2=-1)
void	ActivateFrames (const unsigned int frame1, const int frame2=-1)
bool	QueryContactDetermination (const Configuration &config, bool bEarlyExit, SWIFT_Real tolerance, int &num_pairs, int **oids, int **num_contacts, SWIFT_Real **distances=NO_DISTANCES, SWIFT_Real **nearest_pts=NO_NEAREST_PTS, SWIFT_Real **normals=NO_NORMALS)
bool	IsInterfering (const Configuration &config)
int	GetRobotLinkBaseFrame (int objectId)
void	SetObstacleTolerance (double tol)
Public Attributes
std::vector< Mesh * >	m_vMeshes
Protected Member Functions
void	UpdateMovedLink (const unsigned int linkNum) const
Protected Attributes
SWIFT_Scene *	m_pSwiftScene
std::vector< std::set< unsigned int > >	m_vLinkSwiftpp
std::vector< int >	m_vSwiftppIndexes
Private Attributes
double	m_dObsTol
Universe *	m_pUniversePointer

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Detailed Description

Definition at line 35 of file CD_Swiftpp.h.

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Constructor & Destructor Documentation

CD_Swiftpp::CD_Swiftpp (  const Universe &  universe  )

Definition at line 40 of file CD_Swiftpp.cpp. References AddEntityToSwiftScene(), CD_BasicStyle::entities, m_pSwiftScene, and CD_BasicStyle::theFrameManager. Referenced by Clone(). Here is the call graph for this function:

CD_Swiftpp::CD_Swiftpp (  const CD_Swiftpp &  right  )

Definition at line 99 of file CD_Swiftpp.cpp. References AddEntityToSwiftScene(), m_pSwiftScene, and m_vMeshes. Here is the call graph for this function:

CD_Swiftpp::~CD_Swiftpp (   )  [virtual]

Definition at line 118 of file CD_Swiftpp.cpp. References m_vMeshes.

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Member Function Documentation

void CD_Swiftpp::ActivateFrames (  const unsigned int  frame1, const int  frame2 = -1 )

Definition at line 396 of file CD_Swiftpp.cpp. References CD_BasicStyle::ActivateFrames(), CD_BasicStyle::FramePairPermEnabled(), m_pSwiftScene, and m_vLinkSwiftpp. Here is the call graph for this function:

bool CD_Swiftpp::AddEntityToSwiftScene (  const Entity *  entity  )

Definition at line 151 of file CD_Swiftpp.cpp. References Entity::BaseFrame(), and m_vLinkSwiftpp. Referenced by CD_Swiftpp(). Here is the call graph for this function:

int CD_Swiftpp::AddMeshToSwiftScene (  const Mesh &  mesh, const bool  bFixed )

Definition at line 196 of file CD_Swiftpp.cpp. References Mesh::Clone(), Mesh::facets, FILENAME, m_vMeshes, MAX_FILENAME_LENGTH, MIN_FILENAME_LENGTH, POLY, POLYEXT, and Mesh::vertexes. Here is the call graph for this function:

CollisionDetectorBase * CD_Swiftpp::Clone (   )  const [virtual]

Implements CD_BasicStyle. Definition at line 143 of file CD_Swiftpp.cpp. References CD_Swiftpp(). Here is the call graph for this function:

void CD_Swiftpp::DeactivateFrames (  const unsigned int  frame1, const int  frame2 = -1 )

Definition at line 347 of file CD_Swiftpp.cpp. References CD_BasicStyle::DeactivateFrames(), m_pSwiftScene, and m_vLinkSwiftpp. Here is the call graph for this function:

int CD_Swiftpp::GetRobotLinkBaseFrame (  int  objectId  )

Definition at line 550 of file CD_Swiftpp.cpp. References m_vLinkSwiftpp.

bool CD_Swiftpp::IsInterfering (  const Configuration &  config  )  [virtual]

Implements CD_Bool. Definition at line 508 of file CD_Swiftpp.cpp. References Entity::GetTransform(), CD_Bool::IncrementCallCount(), Semaphore::Lock(), m_vMeshes, and CD_BasicStyle::SetConfiguration(). Here is the call graph for this function:

bool CD_Swiftpp::QueryContactDetermination (  const Configuration &  config, bool  bEarlyExit, SWIFT_Real  tolerance, int &  num_pairs, int **  oids, int **  num_contacts, SWIFT_Real **  distances = NO_DISTANCES, SWIFT_Real **  nearest_pts = NO_NEAREST_PTS, SWIFT_Real **  normals = NO_NORMALS )

Definition at line 457 of file CD_Swiftpp.cpp. References Entity::GetTransform(), CD_Bool::IncrementCallCount(), Semaphore::Lock(), m_vMeshes, and CD_BasicStyle::SetConfiguration(). Here is the call graph for this function:

void CD_Swiftpp::SetObstacleTolerance (  double  tol  )  [inline]

Definition at line 107 of file CD_Swiftpp.h. References m_dObsTol.

void CD_Swiftpp::UpdateMovedLink (  const unsigned int  linkNum  )  const [protected]

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Member Data Documentation

double CD_Swiftpp::m_dObsTol [private]

Definition at line 125 of file CD_Swiftpp.h. Referenced by SetObstacleTolerance().

SWIFT_Scene* CD_Swiftpp::m_pSwiftScene [mutable, protected]

Definition at line 117 of file CD_Swiftpp.h. Referenced by ActivateFrames(), CD_Swiftpp(), and DeactivateFrames().

Universe* CD_Swiftpp::m_pUniversePointer [private]

Definition at line 126 of file CD_Swiftpp.h.

std::vector< std::set< unsigned int > > CD_Swiftpp::m_vLinkSwiftpp [protected]

Definition at line 120 of file CD_Swiftpp.h. Referenced by ActivateFrames(), AddEntityToSwiftScene(), DeactivateFrames(), and GetRobotLinkBaseFrame().

std::vector<Mesh*> CD_Swiftpp::m_vMeshes

Definition at line 110 of file CD_Swiftpp.h. Referenced by AddMeshToSwiftScene(), CD_Swiftpp(), IsInterfering(), QueryContactDetermination(), and ~CD_Swiftpp().

std::vector< int > CD_Swiftpp::m_vSwiftppIndexes [protected]

Definition at line 121 of file CD_Swiftpp.h.

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The documentation for this class was generated from the following files:

• collisiondetectors/CD_Swiftpp.h
• collisiondetectors/CD_Swiftpp.cpp

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