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| PQPSolid () |
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virtual | ~PQPSolid () |
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virtual bool | IsInCollision (const GMSPolyhedron &_polyhedron1, const mathtool::Transformation &_t1, const GMSPolyhedron &_polyhedron2, const mathtool::Transformation &_t2, CDInfo &_cdInfo) override |
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virtual bool | IsInsideObstacle (const mathtool::Vector3d &_point, const GMSPolyhedron &_polyhedron, const mathtool::Transformation &_transformation) override |
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const std::string & | GetName () const |
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virtual void | Print (std::ostream &_os) const |
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std::string | m_name |
| Name of the CD method.
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PQPSolid is an extended PQP which also checks if one mesh lies entirely within another.
◆ IsInCollision()
bool PQPSolid::IsInCollision |
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const GMSPolyhedron & |
_polyhedron1, |
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const mathtool::Transformation & |
_transformation1, |
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const GMSPolyhedron & |
_polyhedron2, |
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const mathtool::Transformation & |
_transformation2, |
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CDInfo & |
_cdInfo |
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overridevirtual |
Check if two polyhedrons are in collision.
- Parameters
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_polyhedron1 | The first polyhedron. |
_transformation1 | Transformation for the first polyhedron. |
_polyhedron2 | The second polyhedron. |
_transformation2 | Transformation for the second polyhedron. |
_cdInfo | Output information from the collision computation. |
- Returns
- True if the polyhedrons are considered to be in collision. Some method check only intersection (i.e. Rapid, PQP) while others also check if one polyhedron is inside the other (i.e. PQPSolid).
Reimplemented from PQP.
◆ IsInsideObstacle()
bool PQPSolid::IsInsideObstacle |
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const mathtool::Vector3d & |
_point, |
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const GMSPolyhedron & |
_polyhedron, |
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const mathtool::Transformation & |
_transformation |
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overridevirtual |
Shoot a pseudo-ray outward from a reference point to determine if it lies within a given body.
- Parameters
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_pt | The reference point of interest. |
_body | The body to check against. |
- Returns
- True if _pt is inside _body.
Reimplemented from CollisionDetectionMethod.
◆ Build()
Build a PQP model for a GMSPolyhedron.
- Parameters
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_polyhedron | The polyhedron to model. |
- Returns
- A PQP model of _model.
◆ GetName()
const std::string & CollisionDetectionMethod::GetName |
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const |
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◆ Print()
void CollisionDetectionMethod::Print |
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std::ostream & |
_os | ) |
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Print information to an output stream.
- Parameters
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The documentation for this class was generated from the following files:
- PQPCollisionDetection.h
- PQPCollisionDetection.cpp