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| <section id="eventdetector"> |
| <span id="id1"></span><h1>EventDetector<a class="headerlink" href="#eventdetector" title="Permalink to this headline"></a></h1> |
| <p>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.</p> |
| <p>There are multiple EventDetectors available, all of them sharing a common interface.</p> |
| <div class="admonition note"> |
| <p class="admonition-title">Note</p> |
| <p>Each instance of an EventDetector can have its own cycle time.</p> |
| </div> |
| <section id="collisiondetector"> |
| <span id="eventdetector-collisiondetector"></span><h2>CollisionDetector<a class="headerlink" href="#collisiondetector" title="Permalink to this headline"></a></h2> |
| <p>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.</p> |
| <div class="admonition note"> |
| <p class="admonition-title">Note</p> |
| <p>The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).</p> |
| </div> |
| <p>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.</p> |
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