#include <mbd_sweep_and_prune.h>

Classes
class	constraint_traits
class	edge_traits
class	node_traits
Public Member Functions
	SweepNPrune ()
void	clear ()
void	init (configuration_type &configuration)
void	add (body_type *body)
void	remove (body_type *body)
void	run (edge_ptr_container &edges)
const real_type	getMin (CoordinateAxis &axis)
const real_type	getMax (CoordinateAxis &axis)
const bool	isConsistent (CoordinateAxis &axis)
Protected Types
typedef IntervalEndpoint< types >	EndPoint
typedef std::list< EndPoint * >	CoordinateAxis
typedef types::math_policy::real_type	real_type
typedef types::configuration_type	configuration_type
typedef types::contact_type	contact_type
typedef types::body_type	body_type
typedef types::edge_type	edge_type
typedef types::edge_ptr_container	edge_ptr_container
Protected Member Functions
void	sort (CoordinateAxis &axis)
const bool	isWrong (EndPoint left, EndPoint right)
void	swapAction (EndPoint left, EndPoint right)
Protected Attributes
CoordinateAxis	m_axisX
	X-Axe. The x-coordinates of AABB interval endpoints.
CoordinateAxis	m_axisY
	Y-Axe. The y-coordinates of AABB interval endpoints.
CoordinateAxis	m_axisZ
	Z-Axe. The z-coordinates of AABB interval endpoints.
configuration_type *	m_configuration
edge_ptr_container	m_reported
	A list containing the currently reported overlaps.

Detailed Description

template<typename types>
class OpenTissue::mbd::SweepNPrune< types >

The Sweep N' Prune Broad Phase Collision Detection Algorithm.

Member Typedef Documentation

template<typename types >

typedef types::body_type OpenTissue::mbd::SweepNPrune< types >::body_type [protected]

template<typename types >

typedef types::configuration_type OpenTissue::mbd::SweepNPrune< types >::configuration_type [protected]

template<typename types >

typedef types::contact_type OpenTissue::mbd::SweepNPrune< types >::contact_type [protected]

template<typename types >

typedef std::list<EndPoint *> OpenTissue::mbd::SweepNPrune< types >::CoordinateAxis [protected]

template<typename types >

typedef types::edge_ptr_container OpenTissue::mbd::SweepNPrune< types >::edge_ptr_container [protected]

template<typename types >

typedef types::edge_type OpenTissue::mbd::SweepNPrune< types >::edge_type [protected]

template<typename types >

typedef IntervalEndpoint<types> OpenTissue::mbd::SweepNPrune< types >::EndPoint [protected]

template<typename types >

typedef types::math_policy::real_type OpenTissue::mbd::SweepNPrune< types >::real_type [protected]

Constructor & Destructor Documentation

template<typename types >

OpenTissue::mbd::SweepNPrune< types >::SweepNPrune ( ) [inline]

Member Function Documentation

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::add ( body_type * body ) [inline]

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::clear ( ) [inline]

template<typename types >

const real_type OpenTissue::mbd::SweepNPrune< types >::getMax ( CoordinateAxis & axis ) [inline]

template<typename types >

const real_type OpenTissue::mbd::SweepNPrune< types >::getMin ( CoordinateAxis & axis ) [inline]

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::init ( configuration_type & configuration ) [inline]

template<typename types >

const bool OpenTissue::mbd::SweepNPrune< types >::isConsistent ( CoordinateAxis & axis ) [inline]

Consistency Test Method. This method should be used for debugging purpose only. It runs through all the endpoints in the list and determines if the list is sorted correctly.

Parameters:

axis

Coordinate Axis to be tested.

Returns:: If the list is consistent then the return value is true otherwise it is false.

template<typename types >

const bool OpenTissue::mbd::SweepNPrune< types >::isWrong	(	EndPoint *	left,
		EndPoint *	right
	)			`[inline, protected]`

Wrongly Sorted Query Method. This method determines whatever the two end points appears in the proper order along a coordinate axe.

It is invoked by the method "sort(...)".

Parameters:

	left	A pointer to the endpoint that has the left position in the list (head is assumed to be left most and tail rightmost).
	right	A pointer to the endpoint that has the right position in the list.

Returns:: If left and right should be swapped then the return value it true otherwise it is false.

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::remove ( body_type * body ) [inline]

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::run ( edge_ptr_container & edges ) [inline]

Run SweepNPrune Algorithm.

Parameters:

edges

A pointer to a list which upon return contains all the detected overlaps, as pointers to the respective contact graph edges.

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::sort ( CoordinateAxis & axis ) [inline, protected]

Coordinate Sorting Algorithm. Temporal Coherence indicates that insertion sort is cabaple of sorting the endpoints from the previous iteration in expected linear time.

This method encapsylates the inertion sort algorithm.

Parameters:

axis

Coordinate Axis that should be sorted upon return.

template<typename types >

void OpenTissue::mbd::SweepNPrune< types >::swapAction	(	EndPoint *	left,
		EndPoint *	right
	)			`[inline, protected]`

Swap Action. This method is supposed to be called by the insetion sort algorithm whenever it swaps two endpoints.

NOTE: The method is called before the actual swap!!!

The method is assumed to perform all the appropriate semantic actions, corresponding to the swap.

The method is invoked by the method "sort(...)".

Parameters:

	left	A pointer to the endpoint that has the left position in the list (head is assumed to be left most and tail rightmost).
	right	A pointer to the endpoint that has the right position in the list.