broadphase_SSaP.h

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#ifndef HPP_FCL_BROAD_PHASE_SSAP_H
#define HPP_FCL_BROAD_PHASE_SSAP_H
 
#include <vector>
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
 
namespace hpp {
namespace fcl {
 
class HPP_FCL_DLLAPI SSaPCollisionManager : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;
 
  SSaPCollisionManager();
 
  void registerObject(CollisionObject* obj);
 
  void unregisterObject(CollisionObject* obj);
 
  void setup();
 
  virtual void update();
 
  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:
  bool checkColl(
      typename std::vector<CollisionObject*>::const_iterator pos_start,
      typename std::vector<CollisionObject*>::const_iterator pos_end,
      CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  bool checkDis(
      typename std::vector<CollisionObject*>::const_iterator pos_start,
      typename std::vector<CollisionObject*>::const_iterator pos_end,
      CollisionObject* obj, DistanceCallBackBase* callback,
      FCL_REAL& min_dist) const;
 
  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
                 FCL_REAL& min_dist) const;
 
  static int selectOptimalAxis(
      const std::vector<CollisionObject*>& objs_x,
      const std::vector<CollisionObject*>& objs_y,
      const std::vector<CollisionObject*>& objs_z,
      typename std::vector<CollisionObject*>::const_iterator& it_beg,
      typename std::vector<CollisionObject*>::const_iterator& it_end);
 
  std::vector<CollisionObject*> objs_x;
 
  std::vector<CollisionObject*> objs_y;
 
  std::vector<CollisionObject*> objs_z;
 
  bool setup_;
};
 
}  // namespace fcl
}  // namespace hpp
 
#endif