broadphase_interval_tree.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef COAL_BROAD_PHASE_INTERVAL_TREE_H
#define COAL_BROAD_PHASE_INTERVAL_TREE_H
 
#include <deque>
#include <map>
 
#include "coal/broadphase/broadphase_collision_manager.h"
#include "coal/broadphase/detail/interval_tree.h"
 
namespace coal {
 
class COAL_DLLAPI IntervalTreeCollisionManager
    : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;
 
  IntervalTreeCollisionManager();
 
  ~IntervalTreeCollisionManager();
 
  void registerObject(CollisionObject* obj);
 
  void unregisterObject(CollisionObject* obj);
 
  void setup();
 
  virtual void update();
 
  void update(CollisionObject* updated_obj);
 
  void update(const std::vector<CollisionObject*>& updated_objs);
 
  void clear();
 
  void getObjects(std::vector<CollisionObject*>& objs) const;
 
  void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
 
  void collide(CollisionCallBackBase* callback) const;
 
  void distance(DistanceCallBackBase* callback) const;
 
  void collide(BroadPhaseCollisionManager* other_manager,
               CollisionCallBackBase* callback) const;
 
  void distance(BroadPhaseCollisionManager* other_manager,
                DistanceCallBackBase* callback) const;
 
  bool empty() const;
 
  size_t size() const;
 
 protected:
  struct COAL_DLLAPI EndPoint {
    CollisionObject* obj;
 
    Scalar value;
 
    char minmax;
 
    bool operator<(const EndPoint& p) const;
  };
 
  struct COAL_DLLAPI SAPInterval : public detail::SimpleInterval {
    CollisionObject* obj;
 
    SAPInterval(Scalar low_, Scalar high_, CollisionObject* obj_);
  };
 
  bool checkColl(
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_end,
      CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  bool checkDist(
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_end,
      CollisionObject* obj, DistanceCallBackBase* callback,
      Scalar& min_dist) const;
 
  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
                 Scalar& min_dist) const;
 
  std::vector<EndPoint> endpoints[3];
 
  detail::IntervalTree* interval_trees[3];
 
  std::map<CollisionObject*, SAPInterval*> obj_interval_maps[3];
 
  bool setup_;
};
 
}  // namespace coal
 
#endif