Rapid Class Reference

Public Member Functions
Construction
	Rapid ()
virtual	~Rapid ()
CollisionDetectionMethod Overrides
virtual bool	IsInCollision (const GMSPolyhedron &_polyhedron1, const mathtool::Transformation &_t1, const GMSPolyhedron &_polyhedron2, const mathtool::Transformation &_t2, CDInfo &_cdInfo) override
Accessors
const std::string &	GetName () const
virtual void	Print (std::ostream &_os) const
CD Interface
virtual bool	IsInsideObstacle (const mathtool::Vector3d &_point, const GMSPolyhedron &_polyhedron, const mathtool::Transformation &_transformation)

Static Public Member Functions
Model Construction
static RAPID_model *	Build (const GMSPolyhedron &_polyhedron)

Protected Attributes
Internal State
std::string	m_name
	Name of the CD method.

Detailed Description

RAPID checks for polygon collisions between two meshes.

RAPID is fast, but it cannot determine any auxiliary information. The contacts (colliding triangle IDs) are stored in the CDInfo object.

Todo:

There is no reason we can't support IsInsideObstacle with RAPID. This isn't really a part of PQP either - it's auxilliary code we created with a ray-shooting test. We can do the same thing here with an added 'RapidSolid' class, or by toggling the IsInsideObstacle check with a flag both here and in PQP.

Reference: Stefan Gottschalk and Ming C. Lin and Dinesh Manocha. "OBBTree: A Hierarchical Structure for Rapid Interference Detection". SIGGRAPH 1996.

Warning

RAPID is not a thread-safe library; it uses static data as part of its internal implementation. Each call to any RAPID instance will be serialized with a mutex (so it is a bad choice for multi-threaded use like simulations with multiple planning agents).

Member Function Documentation

Build()

RAPID_model * Rapid::Build ( const GMSPolyhedron &  _polyhedron )

static

Build a RAPID model for a GMSPolyhedron.

Parameters

_polyhedron

The polyhedron to model.

Returns

A RAPID model of _model.

IsInCollision()

bool Rapid::IsInCollision ( const GMSPolyhedron &  _polyhedron1, const mathtool::Transformation &  _transformation1, const GMSPolyhedron &  _polyhedron2, const mathtool::Transformation &  _transformation2, CDInfo &  _cdInfo  )

overridevirtual

Check if two polyhedrons are in collision.

Parameters

_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 CollisionDetectionMethod.

GetName()

const std::string & CollisionDetectionMethod::GetName ( ) const

inherited

Returns

Name of CD Method

Print()

void CollisionDetectionMethod::Print ( std::ostream &  _os ) const

virtualinherited

Print information to an output stream.

Parameters

_os	The output stream.

IsInsideObstacle()

bool CollisionDetectionMethod::IsInsideObstacle ( const mathtool::Vector3d &  _point, const GMSPolyhedron &  _polyhedron, const mathtool::Transformation &  _transformation  )

virtualinherited

Check if a point is inside of a polyhedron.

Parameters

_point	The point to check.
_polyhedron	The polyhedron to check against.
_transformation	Transformation for the polyhedron.

Returns

Is the point inside _polyhedron?

Reimplemented in PQPSolid.

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

• RapidCollisionDetection.h
• RapidCollisionDetection.cpp