CollisionDetector.hpp File Reference

The CollisionDetector implements an efficient way of checking a complete frame tree for collisions. More...

#include <rw/core/Ptr.hpp>
#include <rw/proximity/ProximityCalculator.hpp>
#include <rw/proximity/ProximityStrategyData.hpp>
#include <utility>
#include <vector>

Classes
class	CollisionDetector
	The CollisionDetector implements an efficient way of checking a complete frame tree for collisions. More...
struct	CollisionDetector::QueryResult
	result of a collision query More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::kinematics
	Kinematic modelling.
	rw::models
	Workcell and device models.
	rw::proximity
	Interfaces for collision checking and distance calculation.

Detailed Description

The CollisionDetector implements an efficient way of checking a complete frame tree for collisions.

It relies on a BroadPhaseDetector to do initial filtering which removes obviously not colliding frame pairs.

After the filtering the remaining frame pairs are tested for collision using an CollisionStrategy which is a narrow phase collision detector.

The collision detector does not dictate a specific detection strategy or algorithm, instead it relies on the CollisionStrategy interface for the actual collision checking between two frames.

Note

The collision detector is not thread safe and as such should not be used by multiple threads at a time.