The DtCollisionDetector is a class used to detect collisions between a specified list of obstructions, by vector obstruction ID and by DtVrfObject obstruction IDs, and a specified Dt3dBoundingVolume. More...

Public Types
typedef std::set< DtObjectType >	DtObjectObstructionIDContainer
typedef DtObjectObstructionIDContainer::iterator	DtObjectObstructionIDIter
typedef DtObjectObstructionIDContainer::const_iterator	DtObjectObstructionIDConstIter
typedef std::list < DtVectorObstructionID >	DtVectorObstructionIDContainer
typedef DtVectorObstructionIDContainer::iterator	DtVectorObstructionIDIter
typedef DtVectorObstructionIDContainer::const_iterator	DtVectorObstructionIDConstIter
typedef std::set< DtVrfObject * >	DtObjectObstructionContainer
typedef DtObjectObstructionContainer::iterator	DtObjectObstructionIter
typedef DtObjectObstructionContainer::const_iterator	DtObjectObstructionConstIter
typedef std::set < DtVectorObstruction * >	DtVectorObstructionContainer
typedef DtVectorObstructionContainer::iterator	DtVectorObstructionIter
typedef DtVectorObstructionContainer::const_iterator	DtVectorObstructionConstIter
Public Member Functions
	DtCollisionDetector (DtSimManager *simManager)
	constructor
virtual	~DtCollisionDetector ()
	destructor
virtual void	setObjectToIgnore (DtVrfObject *vrfObject)
virtual bool	detectPotentialCollision (Dt3dBoundingVolume &collisionBv, const DtVector &localPosition, const DtDcm &bvOrientation, DtCollision *&potentialCollision)
	Calculates the closest potential collision among all the defined obstructions in the scene.
virtual bool	detectAllEntityCollisions (Dt3dBoundingVolume &collisionBv, const DtVector &localPosition, const DtDcm &bvOrientation, std::list< DtBoost::shared_ptr< DtEntityCollision > > &collisionList)
	Finds all the entities within the provided collisionBv.
virtual bool	getObjectObstructions (DtObjectObstructionContainer &objectObstructions) const
	Requests, from the Object Manager, pointers to all of the DtVrfObject types that have been specified as obstructions.
virtual bool	getObjectObstructions (Dt3dBoundingVolume &boundingVolume, const DtVector &bvLocation, const DtDcm &bvOrientation, DtObjectObstructionContainer &objectObstructions) const
virtual bool	vrfObjectObstructionPredicate (const DtVrfObject &vrfObjectToTest) const
	This function is used to filter out vrfObjects that are not appropriate for some reason.
virtual bool	getVectorObstructions (DtVectorObstructionContainer &vectorObstructions) const
	Selects all appropriate vector network elements from the vector network, as specified by the vector obstruction IDs.
virtual bool	getVectorObstructions (Dt3dBoundingVolume &boundingVolume, const DtVector &bvLocation, const DtDcm &bvOrientation, DtVectorObstructionContainer &obstructionsToTest) const
virtual bool	checkForCollision (Dt3dBoundingVolume &collisionBV, DtCollision &potentialCollision, const DtVector &localPosition, const DtDcm &bvOrientation) const
	Determines if the specified entities collide or not.

virtual void	addObjectObstructionID (const DtObjectType &objectObstructionID)
	Add/Remove the specified obstruction IDs.
virtual void	addVectorObstructionID (const DtVectorObstructionID &vectorObstructionIDs)
	Add/Remove the specified obstruction IDs.
virtual void	removeObjectObstructionID (const DtObjectType &objectObstructionID)
	Add/Remove the specified obstruction IDs.
virtual void	removeVectorObstructionID (const DtVectorObstructionID &vectorObstructionID)
	Add/Remove the specified obstruction IDs.
virtual void	setObjectObstructionIDs (const DtObjectObstructionIDContainer &objectIDs)
	Clears and sets IDs to the specified list.
virtual void	setVectorObstructionIDs (const DtVectorObstructionIDContainer &vectorIDs)
	Clears and sets IDs to the specified list.

virtual DtObjectObstructionIDIter	objectIDsBegin ()
virtual DtObjectObstructionIDConstIter	objectIDsBegin () const
virtual DtVectorObstructionIDIter	vectorIDsBegin ()
virtual DtVectorObstructionIDConstIter	vectorIDsBegin () const
virtual DtObjectObstructionIDIter	objectIDsEnd ()
virtual DtObjectObstructionIDConstIter	objectIDsEnd () const
virtual DtVectorObstructionIDIter	vectorIDsEnd ()
virtual DtVectorObstructionIDConstIter	vectorIDsEnd () const
Protected Member Functions
bool	detectNewClosestCollision (Dt3dBoundingVolume &collisionBV, DtCollision *&potentialCollision, const DtVector &localPosition, const DtDcm &bvOrientation) const
	Determines if the entity is potentially or currently colliding with any obstructions.
bool	detectObjectCollision (Dt3dBoundingVolume &collisionBV, DtCollisionProcessor< DtEntityCollision > &collisionProcessor, const DtVector &localPosition, const DtDcm &bvOrientation) const
	Determines if the entity is potentially or currently colliding with any obstructions of the specified types.
bool	detectVectorCollision (Dt3dBoundingVolume &collisionBV, DtCollisionProcessor< DtVectorObstructionCollision > &, const DtVector &localPosition, const DtDcm &bvOrientation) const
DtCollision *	primaryCollision (DtCollision firstCollision, DtCollision secondCollision) const
bool	testInvariant () const
Protected Attributes
DtObjectObstructionIDContainer	myObjectObstructionIDs
	The obstruction IDs.
DtVectorObstructionIDContainer	myVectorObstructionIDs
DtSimManager *	mySimManager
DtVrfObject *	myObjectToIgnore
	This object (if set) will not be reported as a collision.
Private Member Functions
	DtCollisionDetector (const DtCollisionDetector &orig)
	copy constructor; not implemented
DtCollisionDetector &	operator= (const DtCollisionDetector &orig)
	assignment operator; not implemented

Detailed Description

The DtCollisionDetector is a class used to detect collisions between a specified list of obstructions, by vector obstruction ID and by DtVrfObject obstruction IDs, and a specified Dt3dBoundingVolume.

This class is used by the DtObstructionSensor to determine potential collisions (with the specified obstructions).

General operation: The collision detector is initialized

Member Typedef Documentation

typedef std::set<DtObjectType> DtCollisionDetector::DtObjectObstructionIDContainer

typedef DtObjectObstructionIDContainer::iterator DtCollisionDetector::DtObjectObstructionIDIter

typedef DtObjectObstructionIDContainer::const_iterator DtCollisionDetector::DtObjectObstructionIDConstIter

typedef std::list<DtVectorObstructionID> DtCollisionDetector::DtVectorObstructionIDContainer

typedef DtVectorObstructionIDContainer::iterator DtCollisionDetector::DtVectorObstructionIDIter

typedef DtVectorObstructionIDContainer::const_iterator DtCollisionDetector::DtVectorObstructionIDConstIter

typedef std::set<DtVrfObject*> DtCollisionDetector::DtObjectObstructionContainer

typedef DtObjectObstructionContainer::iterator DtCollisionDetector::DtObjectObstructionIter

typedef DtObjectObstructionContainer::const_iterator DtCollisionDetector::DtObjectObstructionConstIter

typedef std::set<DtVectorObstruction*> DtCollisionDetector::DtVectorObstructionContainer

typedef DtVectorObstructionContainer::iterator DtCollisionDetector::DtVectorObstructionIter

typedef DtVectorObstructionContainer::const_iterator DtCollisionDetector::DtVectorObstructionConstIter

Constructor & Destructor Documentation

DtCollisionDetector::DtCollisionDetector ( DtSimManager * simManager )

constructor

Parameters:

simManager	A convenience pointer to the symManager, for use in getting the lists of vrfObject obstructions, vector obstructions, etc. The collision detector does not maintain any ownership at all over this simManager.
objectToMonitor	The DtVrfObject that is associated with this detector. This is used to get entity related information, such as location, orientation, bounding volume, etc.

virtual DtCollisionDetector::~DtCollisionDetector ( ) [virtual]

destructor

DtCollisionDetector::DtCollisionDetector ( const DtCollisionDetector & orig ) [private]

copy constructor; not implemented

Member Function Documentation

DtCollisionDetector& DtCollisionDetector::operator= ( const DtCollisionDetector & orig ) [private]

assignment operator; not implemented

virtual void DtCollisionDetector::setObjectToIgnore ( DtVrfObject * vrfObject ) [virtual]

See also:: myObjectToIgnore

virtual void DtCollisionDetector::addObjectObstructionID ( const DtObjectType & objectObstructionID ) [virtual]

Add/Remove the specified obstruction IDs.

virtual void DtCollisionDetector::addVectorObstructionID ( const DtVectorObstructionID & vectorObstructionIDs ) [virtual]

Add/Remove the specified obstruction IDs.

virtual void DtCollisionDetector::removeObjectObstructionID ( const DtObjectType & objectObstructionID ) [virtual]

Add/Remove the specified obstruction IDs.

virtual void DtCollisionDetector::removeVectorObstructionID ( const DtVectorObstructionID & vectorObstructionID ) [virtual]

Add/Remove the specified obstruction IDs.

virtual void DtCollisionDetector::setObjectObstructionIDs ( const DtObjectObstructionIDContainer & objectIDs ) [virtual]

Clears and sets IDs to the specified list.

virtual void DtCollisionDetector::setVectorObstructionIDs ( const DtVectorObstructionIDContainer & vectorIDs ) [virtual]

Clears and sets IDs to the specified list.

virtual DtObjectObstructionIDIter DtCollisionDetector::objectIDsBegin ( ) [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtObjectObstructionIDConstIter DtCollisionDetector::objectIDsBegin ( ) const [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtVectorObstructionIDIter DtCollisionDetector::vectorIDsBegin ( ) [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtVectorObstructionIDConstIter DtCollisionDetector::vectorIDsBegin ( ) const [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtObjectObstructionIDIter DtCollisionDetector::objectIDsEnd ( ) [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtObjectObstructionIDConstIter DtCollisionDetector::objectIDsEnd ( ) const [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtVectorObstructionIDIter DtCollisionDetector::vectorIDsEnd ( ) [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual DtVectorObstructionIDConstIter DtCollisionDetector::vectorIDsEnd ( ) const [virtual]

Returns:: An iterator to the first/last elements in the obstruction containers

virtual bool DtCollisionDetector::detectPotentialCollision	(	Dt3dBoundingVolume &	collisionBv,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation,
		DtCollision *&	potentialCollision
	)		`[virtual]`

Calculates the closest potential collision among all the defined obstructions in the scene.

Parameters:

potentialCollision An assumed to be empty DtCollision object which will contain the closest potential collision data if one is detected.

Returns:: A boolean indicating the presence of a collision or not. Returns true if a collision is detected. False otherwise.

See also:: getObstructions(); checkEntityForCollision()

virtual bool DtCollisionDetector::detectAllEntityCollisions	(	Dt3dBoundingVolume &	collisionBv,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation,
		std::list< DtBoost::shared_ptr< DtEntityCollision > > &	collisionList
	)		`[virtual]`

Finds all the entities within the provided collisionBv.

Caller is responsible for deleting collision item returned on the list.

virtual bool DtCollisionDetector::getObjectObstructions ( DtObjectObstructionContainer & objectObstructions ) const [virtual]

Requests, from the Object Manager, pointers to all of the DtVrfObject types that have been specified as obstructions.

If the version of the function that takes a bounding volume as a parameter, then the set of returned vrfObjects will contain at least all of the vrfObjects whose extents intersect the extent of the specified bounding volume (in the database CS).

Parameters:

objectObstructions	Used as a container of the pointers to the DtVrfObject obstructions.
boundingVolume	The volume of interest.
bvLocation	The location, in the reference CS (database CS) of the bv.
bvOrientation	The orientation of the bv.

Returns:: A boolean indicating success or failure in getting the DtVrfObject pointers.

Note:: The set of DtVrfObject pointers is guaranteed to have all DtVrfObjects that lie within the bounding volume, but may also contain elements that lie outside.

virtual bool DtCollisionDetector::getObjectObstructions	(	Dt3dBoundingVolume &	boundingVolume,
		const DtVector &	bvLocation,
		const DtDcm &	bvOrientation,
		DtObjectObstructionContainer &	objectObstructions
	)		const `[virtual]`

virtual bool DtCollisionDetector::vrfObjectObstructionPredicate ( const DtVrfObject & vrfObjectToTest ) const [virtual]

This function is used to filter out vrfObjects that are not appropriate for some reason.

For example, this function currently screens out vrfObjects that are not of one of the specified object types, or if the vrfObjects is attached to the collision detector's entity. (you can collide with yourself in our current system).

Returns:: A boolean indicating whether or not the vrfObject is worth testing for a collision.

See also:: detectObjectCollision

virtual bool DtCollisionDetector::getVectorObstructions ( DtVectorObstructionContainer & vectorObstructions ) const [virtual]

Selects all appropriate vector network elements from the vector network, as specified by the vector obstruction IDs.

Can be somewhat expensive because of the need to create DtVectorObstruction objects for all the network elements selected.

Parameters:

vectorObstructions	A container of all the appropriate vector obstructions.
boundingVolume	If specified, then the function will return at least all the vector obstructions that lie within the bounding volume's extent. This means that additional obstructions that do not intersect the bv may be returned, but no obstruction that does intersect it will not be returned.
bvLocation	The location, in the reference CS (database CS) of the bv.
bvOrientation	The orientation matrix of the bv.

Returns:: A boolean signifying success or failure.

Note:: The set of returned vector obstruction pointers may contain vector obstructions that lie outside the specified volume, but it will never not contain obstructions inside the volume.

virtual bool DtCollisionDetector::getVectorObstructions	(	Dt3dBoundingVolume &	boundingVolume,
		const DtVector &	bvLocation,
		const DtDcm &	bvOrientation,
		DtVectorObstructionContainer &	obstructionsToTest
	)		const `[virtual]`

virtual bool DtCollisionDetector::checkForCollision	(	Dt3dBoundingVolume &	collisionBV,
		DtCollision &	potentialCollision,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation
	)		const `[virtual]`

Determines if the specified entities collide or not.

Parameters:

potentialCollidee A vrfObject to test for collisions.

Returns:: A boolean specifying whether or not there was a collision.

Parameters:

localPosition,if not 0, 0, 0, will use that position rather than entity position NOTE that false will also be returned when the test could not be done, such as if the potential collidee did not have a state repository.

bool DtCollisionDetector::detectNewClosestCollision	(	Dt3dBoundingVolume &	collisionBV,
		DtCollision *&	potentialCollision,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation
	)		const `[protected]`

Determines if the entity is potentially or currently colliding with any obstructions.

Parameters:

localPosition,if not 0, 0, 0, will use that position rather than entity position

Returns:: a boolean signifying success or failure in detecting the collision.

Note:: if a new collision is detected, it is stored in the myPotentialCollision object.

bool DtCollisionDetector::detectObjectCollision	(	Dt3dBoundingVolume &	collisionBV,
		DtCollisionProcessor< DtEntityCollision > &	collisionProcessor,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation
	)		const `[protected]`

Determines if the entity is potentially or currently colliding with any obstructions of the specified types.

Parameters:

DtEntityCollision	the "best" (closest currently) object collision if any.
DtVectorObstructionCollision	the "best" (closest currently) vector obstruction collision if any.
localPosition,if	not 0, 0, 0, will use that position rather than entity position

See also:: detectNewCollision

Returns:: a boolean signifying success or failure in detecting the collision.

bool DtCollisionDetector::detectVectorCollision	(	Dt3dBoundingVolume &	collisionBV,
		DtCollisionProcessor< DtVectorObstructionCollision > &	,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation
	)		const `[protected]`