Package org.robwork.sdurw
Class CollisionDetector
- java.lang.Object
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- org.robwork.sdurw.CollisionDetector
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public class CollisionDetector extends java.lang.Object
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.
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Constructor Summary
Constructors Constructor Description CollisionDetector(long cPtr, boolean cMemoryOwn)
CollisionDetector(WorkCellPtr workcell)
Collision detector for a workcell with only broad-phase collision checking.
The default collision setup stored in the workcell is used for
broad phase collision filtering as a static filter list.
Notice that no narrow phase checking is performed.
If broad-phase filter returns any frame-pairs, this will be taken as a collision.
CollisionDetector(WorkCellPtr workcell, CollisionStrategyPtr strategy)
Collision detector for a workcell.
The collision detector is initialized with the strategy .
Notice that the collision detector will create and store models inside the strategy .
The default collision setup stored in the workcell is used for
broad phase collision filtering as a static filter list.
CollisionDetector(WorkCellPtr workcell, CollisionStrategyPtr strategy, ProximityFilterStrategyPtr filter)
Collision detector for a workcell.
Collision checking is done for the provided collision setup alone.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addGeometry(Frame frame, GeometryPtr geometry)
Add Geometry associated to frame
The current shape of the geometry is copied, hence later changes to geometry has no effect
void
addRule(ProximitySetupRule rule)
Adds rule specifying inclusion/exclusion of frame pairs in collision detectionvoid
delete()
CollisionStrategyPtr
getCollisionStrategy()
Get the narrow-phase collision strategy.double
getComputationTime()
Get the computation time used in the inCollision functions.static long
getCPtr(CollisionDetector obj)
VectorString
getGeometryIDs(Frame frame)
return the ids of all the geometries of this frames.int
getNoOfCalls()
Get the number of times the inCollision functions have been called.ProximityFilterStrategyPtr
getProximityFilterStrategy()
The broad phase collision strategy of the collision checker.boolean
hasGeometry(Frame frame, java.lang.String geometryId)
Returns whether frame has an associated geometry with geometryId.boolean
inCollision(State state)
Check the workcell for collisions.
boolean
inCollision(State state, FramePairVector result)
Check the workcell for collisions.
boolean
inCollision(State state, FramePairVector result, boolean stopAtFirstContact)
Check the workcell for collisions.
boolean
inCollision(State state, CollisionDetectorQueryResult result)
Check the workcell for collisions.
boolean
inCollision(State state, CollisionDetectorQueryResult result, boolean stopAtFirstContact)
Check the workcell for collisions.
boolean
inCollision(State state, ProximityData data)
Check the workcell for collisions.
static CollisionDetectorPtr
make(WorkCellPtr workcell, CollisionStrategyPtr strategy)
void
removeGeometry(Frame frame, java.lang.String geometryId)
Removes geometry from CollisionDetector
The geometryId is used to match the collision model to the geometry.
void
removeGeometry(Frame frame, GeometryPtr geometry)
Removes geometry from CollisionDetector
The id of the geometry is used to match the collision model to the geometry.
void
removeRule(ProximitySetupRule rule)
Removes rule specifying inclusion/exclusion of frame pairs in collision detectionvoid
resetComputationTimeAndCount()
Reset the counter for inCollision invocations and the computation timer.
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Constructor Detail
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CollisionDetector
public CollisionDetector(long cPtr, boolean cMemoryOwn)
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CollisionDetector
public CollisionDetector(WorkCellPtr workcell)
Collision detector for a workcell with only broad-phase collision checking.
The default collision setup stored in the workcell is used for
broad phase collision filtering as a static filter list.
Notice that no narrow phase checking is performed.
If broad-phase filter returns any frame-pairs, this will be taken as a collision.
- Parameters:
workcell
- [in] the workcell.
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CollisionDetector
public CollisionDetector(WorkCellPtr workcell, CollisionStrategyPtr strategy)
Collision detector for a workcell.
The collision detector is initialized with the strategy .
Notice that the collision detector will create and store models inside the strategy .
The default collision setup stored in the workcell is used for
broad phase collision filtering as a static filter list.
- Parameters:
workcell
- [in] the workcell.strategy
- [in/out] the strategy for narrow-phase checking. The strategy will have models added to it.
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CollisionDetector
public CollisionDetector(WorkCellPtr workcell, CollisionStrategyPtr strategy, ProximityFilterStrategyPtr filter)
Collision detector for a workcell.
Collision checking is done for the provided collision setup alone.
- Parameters:
workcell
- [in] the workcell.strategy
- [in/out] the strategy for narrow-phase checking. The strategy will have models added to it.filter
- [in] proximity filter used to cull or filter frame-pairs that are obviously not colliding
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Method Detail
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getCPtr
public static long getCPtr(CollisionDetector obj)
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delete
public void delete()
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inCollision
public boolean inCollision(State state, ProximityData data)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.data
- [in/out] Defines parameters for the collision check, the results and also
enables caching inbetween calls to incollision- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, CollisionDetectorQueryResult result, boolean stopAtFirstContact)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] If non-NULL, the pairs of colliding frames are
inserted in result.stopAtFirstContact
- [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, CollisionDetectorQueryResult result)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] If non-NULL, the pairs of colliding frames are
inserted in result.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.
- Returns:
- true if a collision is detected; false otherwise.
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getProximityFilterStrategy
public ProximityFilterStrategyPtr getProximityFilterStrategy()
The broad phase collision strategy of the collision checker.
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getCollisionStrategy
public CollisionStrategyPtr getCollisionStrategy()
Get the narrow-phase collision strategy.- Returns:
- the strategy if set, otherwise NULL.
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addGeometry
public void addGeometry(Frame frame, GeometryPtr geometry)
Add Geometry associated to frame
The current shape of the geometry is copied, hence later changes to geometry has no effect
- Parameters:
frame
- [in] Frame to associate geometry togeometry
- [in] Geometry to add
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removeGeometry
public void removeGeometry(Frame frame, GeometryPtr geometry)
Removes geometry from CollisionDetector
The id of the geometry is used to match the collision model to the geometry.
- Parameters:
frame
- [in] The frame which has the geometry associatedgeometry
- [in] Geometry with the id to be removed
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removeGeometry
public void removeGeometry(Frame frame, java.lang.String geometryId)
Removes geometry from CollisionDetector
The geometryId is used to match the collision model to the geometry.
- Parameters:
frame
- [in] The frame which has the geometry associatedgeometryId
- [in] Id of geometry to be removed
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addRule
public void addRule(ProximitySetupRule rule)
Adds rule specifying inclusion/exclusion of frame pairs in collision detection
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removeRule
public void removeRule(ProximitySetupRule rule)
Removes rule specifying inclusion/exclusion of frame pairs in collision detection
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getComputationTime
public double getComputationTime()
Get the computation time used in the inCollision functions.- Returns:
- the total computation time.
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getNoOfCalls
public int getNoOfCalls()
Get the number of times the inCollision functions have been called.- Returns:
- number of calls to inCollision functions.
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resetComputationTimeAndCount
public void resetComputationTimeAndCount()
Reset the counter for inCollision invocations and the computation timer.
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getGeometryIDs
public VectorString getGeometryIDs(Frame frame)
return the ids of all the geometries of this frames.
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hasGeometry
public boolean hasGeometry(Frame frame, java.lang.String geometryId)
Returns whether frame has an associated geometry with geometryId.- Parameters:
frame
- [in] Frame in questiongeometryId
- [in] Id of the geometry
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inCollision
public boolean inCollision(State state, FramePairVector result, boolean stopAtFirstContact)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] Where to store pairs of colliding frames.stopAtFirstContact
- [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, FramePairVector result)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] Where to store pairs of colliding frames.
- Returns:
- true if a collision is detected; false otherwise.
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make
public static CollisionDetectorPtr make(WorkCellPtr workcell, CollisionStrategyPtr strategy)
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