| .. | |
| ******************************************************************************* | |
| Copyright (c) 2021 in-tech GmbH | |
| This program and the accompanying materials are made available under the | |
| terms of the Eclipse Public License 2.0 which is available at | |
| http://www.eclipse.org/legal/epl-2.0. | |
| SPDX-License-Identifier: EPL-2.0 | |
| ******************************************************************************* | |
| .. _eventdetector: | |
| EventDetector | |
| ============= | |
| EventDetectors are executed at the beginning of each timestep. | |
| A detector uses its access to the world and the framework to detect specific events. | |
| After detection, the event is usually forwarded to the EventNetwork. | |
| There are multiple EventDetectors available, all of them sharing a common interface. | |
| .. note:: Each instance of an EventDetector can have its own cycle time. | |
| .. _eventdetector_collisiondetector: | |
| CollisionDetector | |
| ----------------- | |
| The CollisionDetector checks whether a collision has occurred. | |
| Moving and stationary objects are taken into account. | |
| Objects are considered as collided, if their two-dimensional bounding boxes intersect. | |
| .. note:: The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane). | |
| In case of a collision, a CollisionEvent containing the participating object Ids is created. | |
| This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly. | |