The DtCollisionDetector is a class used to detect collisions between a specified list of obstructions, by feature type (defined in appdata/settings/featureconfig.txt) and by DtSimObject 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

Public Types
typedef std::set< DtObjectType >	DtObjectObstructionIDContainer

typedef std::vector< const DtSimObject * >	DtObjectObstructionContainer

typedef std::list< DtRwString >	DtFeatureTypeContainer

Public Member Functions
	DtCollisionDetector (const DtSimulationServices *simServices)

virtual	~DtCollisionDetector ()

virtual void	setObjectToIgnore (const DtSimObject *vrfObject)

virtual bool	detectPotentialCollision (const Dt3dBoundingVolume &collisionBv, const DtVector &localPosition, const DtDcm &bvOrientation, DtCollision *&potentialCollision)

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

virtual bool	getObjectObstructions (DtObjectObstructionContainer &objectObstructions) const

virtual bool	getObjectObstructions (Dt3dBoundingVolume &boundingVolume, const DtVector &bvLocation, const DtDcm &bvOrientation, DtObjectObstructionContainer &objectObstructions) const

virtual bool	vrfObjectObstructionPredicate (const DtSimObject &vrfObjectToTest) const

virtual bool	checkForCollision (const Dt3dBoundingVolume &collisionBV, DtCollision &potentialCollision, const DtVector &localPosition, const DtDcm &bvOrientation) const


virtual void	addObjectObstructionID (const DtObjectType &objectObstructionType)

virtual void	removeObjectObstructionID (const DtObjectType &objectObstructionType)

virtual void	setObjectObstructionIDs (const DtObjectObstructionIDContainer &objectTypes)

virtual void	setFeatureObstructionTypes (const DtFeatureTypeContainer &featureTypes)

Protected Member Functions
bool	detectNewClosestCollision (const Dt3dBoundingVolume &collisionBV, DtCollision *&potentialCollision, const DtVector &localPosition, const DtDcm &bvOrientation) const

bool	detectObjectCollision (const Dt3dBoundingVolume &collisionBV, DtCollisionProcessor< DtEntityCollision > &collisionProcessor, const DtVector &localPosition, const DtDcm &bvOrientation) const

bool	detectFeatureCollision (const Dt3dBoundingVolume &collisionBV, DtCollisionProcessor< DtFeatureCollision > &, const DtVector &localPosition, const DtDcm &bvOrientation) const

DtCollision *	primaryCollision (DtCollision firstCollision, DtCollision secondCollision) const

bool	testInvariant () const

Protected Attributes
DtObjectObstructionIDContainer	myObjectObstructionTypes

const DtSimulationServices *	mySimulationServices

DtFeatureTypeContainer	myObstructionTypes

boost::shared_ptr < MAKVRinTerra::DtAreaFeatureSet::List >	myObstructions

const DtSimObject *	myObjectToIgnore

Private Member Functions
	DtCollisionDetector (const DtCollisionDetector &orig)

DtCollisionDetector &	operator= (const DtCollisionDetector &orig)

Member Typedef Documentation

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

typedef std::vector<const DtSimObject*> DtCollisionDetector::DtObjectObstructionContainer

typedef std::list<DtRwString> DtCollisionDetector::DtFeatureTypeContainer

Constructor & Destructor Documentation

DtCollisionDetector::DtCollisionDetector ( const DtSimulationServices * simServices )

constructor

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 ( const DtSimObject * vrfObject )

virtual

See Also: myObjectToIgnore

virtual void DtCollisionDetector::addObjectObstructionID ( const DtObjectType & objectObstructionType )

virtual

Add/Remove the specified obstruction types. (ID is a misnomer.)

virtual void DtCollisionDetector::removeObjectObstructionID ( const DtObjectType & objectObstructionType )

virtual

Add/Remove the specified obstruction types. (ID is a misnomer.)

virtual void DtCollisionDetector::setObjectObstructionIDs ( const DtObjectObstructionIDContainer & objectTypes )

virtual

Clears and sets IDs to the specified list.

virtual void DtCollisionDetector::setFeatureObstructionTypes ( const DtFeatureTypeContainer & featureTypes )

virtual

Clears and sets types to the specified list.

virtual bool DtCollisionDetector::detectPotentialCollision	(	const 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	(	const 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 DtSimObject 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 DtSimObject 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 DtSimObject pointers.

Note: The set of DtVrfObject pointers is guaranteed to have all DtSimObjects 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 DtSimObject & 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::checkForCollision	(	const 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	(	const 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	(	const 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.
DtFeatureObstructionCollision	the "best" (closest currently) feature 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::detectFeatureCollision	(	const Dt3dBoundingVolume &	collisionBV,
		DtCollisionProcessor< DtFeatureCollision > &	,
		const DtVector &	localPosition,
		const DtDcm &	bvOrientation
	)		const

protected

DtCollision* DtCollisionDetector::primaryCollision	(	DtCollision *	firstCollision,
		DtCollision *	secondCollision
	)		const

protected

Returns: the "best" (closest currently) of the two specified collisions.

bool DtCollisionDetector::testInvariant ( ) const

protected

Returns: a boolean signifying whether the object's invariant is valid or not.

Member Data Documentation

DtObjectObstructionIDContainer DtCollisionDetector::myObjectObstructionTypes

protected

The object obstruction typess.

const DtSimulationServices* DtCollisionDetector::mySimulationServices

protected

DtFeatureTypeContainer DtCollisionDetector::myObstructionTypes

protected

Feature obstructions.

boost::shared_ptr<MAKVRinTerra::DtAreaFeatureSet::List> DtCollisionDetector::myObstructions

protected

const DtSimObject* DtCollisionDetector::myObjectToIgnore

protected

This object (if set) will not be reported as a collision. Typically, this is the object that the collisions are being found for.

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrfmodel/collisionDetector.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation