Inherited by ContactDetector, and ThreadedContactDetector.
◆ BaseContactDetector()
Contact detector for a workcell.
If no broad-phase filter is given, a default will be created for the workcell.
- Parameters
-
workcell | [in] the workcell. |
filter | [in] broad-phase filter to remove frames that are obviously not colliding. |
◆ ~BaseContactDetector()
Destruct contact detector.
The strategy table and stored contact models is cleared.
◆ findContacts() [1/3]
Find contacts in workcell.
- Parameters
-
state | [in] The state for which to check for contacts. |
- Returns
- a vector of contacts, some might be subclasses of the Contact class.
Implemented in ThreadedContactDetector, and ContactDetector.
◆ findContacts() [2/3]
Find contacts in workcell.
Use of this function is encouraged if changes between consecutive calls are expected to be small. This will allow the detection algorithms to do certain speed-ups.
- Parameters
-
state | [in] The state for which to check for contacts. |
data | [in/out] Allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence. |
- Returns
- a vector of contacts, some might be subclasses of the Contact class.
Implemented in ThreadedContactDetector, and ContactDetector.
◆ findContacts() [3/3]
Find contacts in workcell while tracking known contacts.
- Parameters
-
state | [in] the state to find contacts for. |
data | [in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence. |
tracking | [in/out] the tracking data with information about known contacts. |
log | [in/out] (optional) store detailed logging information. |
- Returns
- a vector of new contacts.
Implemented in ThreadedContactDetector, and ContactDetector.
◆ getTimer()
virtual double getTimer |
( |
| ) |
const |
|
virtual |
The number of seconds measured used in contact detection.
- Returns
- the value of the timer in seconds.
◆ setProximityFilterStrategy()
Set a new broad-phase filter.
- Parameters
-
filter | [in] broad-phase filter to remove frames that are obviously not colliding. |
◆ setTimer()
virtual void setTimer |
( |
double |
value = 0 | ) |
|
|
virtual |
Set the value of a timer that will measure time used during contact detection.
- Parameters
-
value | [in] the value to set the time to (seconds) |
◆ updateContacts()
Updates previously found contacts.
- Parameters
-
state | [in] the new state to find the updated contacts for. |
data | [in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence. |
tracking | [in/out] the tracking data with information about known contacts. |
log | [in/out] (optional) store detailed logging information. |
- Returns
- a vector of contacts.
Implemented in ThreadedContactDetector, and ContactDetector.
The documentation for this class was generated from the following file: