broadphase_SaP.h

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#ifndef HPP_FCL_BROAD_PHASE_SAP_H
#define HPP_FCL_BROAD_PHASE_SAP_H
 
#include <map>
#include <list>
 
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
 
namespace hpp {
namespace fcl {
 
class HPP_FCL_DLLAPI SaPCollisionManager : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;
 
  SaPCollisionManager();
 
  ~SaPCollisionManager();
 
  void registerObjects(const std::vector<CollisionObject*>& other_objs);
 
  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 EndPoint;
 
  struct SaPAABB {
    CollisionObject* obj;
 
    EndPoint* lo;
 
    EndPoint* hi;
 
    AABB cached;
  };
 
  struct EndPoint {
    char minmax;
 
    SaPAABB* aabb;
 
    EndPoint* prev[3];
 
    EndPoint* next[3];
 
    const Vec3f& getVal() const;
 
    Vec3f& getVal();
 
    FCL_REAL getVal(int i) const;
 
    FCL_REAL& getVal(int i);
  };
 
  struct SaPPair {
    SaPPair(CollisionObject* a, CollisionObject* b);
 
    CollisionObject* obj1;
    CollisionObject* obj2;
 
    bool operator==(const SaPPair& other) const;
  };
 
  class HPP_FCL_DLLAPI isUnregistered {
    CollisionObject* obj;
 
   public:
    isUnregistered(CollisionObject* obj_);
 
    bool operator()(const SaPPair& pair) const;
  };
 
  class HPP_FCL_DLLAPI isNotValidPair {
    CollisionObject* obj1;
    CollisionObject* obj2;
 
   public:
    isNotValidPair(CollisionObject* obj1_, CollisionObject* obj2_);
 
    bool operator()(const SaPPair& pair);
  };
 
  void update_(SaPAABB* updated_aabb);
 
  void updateVelist();
 
  EndPoint* elist[3];
 
  std::vector<EndPoint*> velist[3];
 
  std::list<SaPAABB*> AABB_arr;
 
  std::list<SaPPair> overlap_pairs;
 
  int optimal_axis;
 
  std::map<CollisionObject*, SaPAABB*> obj_aabb_map;
 
  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
                 FCL_REAL& min_dist) const;
 
  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  void addToOverlapPairs(const SaPPair& p);
 
  void removeFromOverlapPairs(const SaPPair& p);
};
 
}  // namespace fcl
}  // namespace hpp
 
#endif