broadphase_interval_tree.h

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#ifndef HPP_FCL_BROAD_PHASE_INTERVAL_TREE_H
#define HPP_FCL_BROAD_PHASE_INTERVAL_TREE_H
 
#include <deque>
#include <map>
 
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/broadphase/detail/interval_tree.h"
 
namespace hpp {
namespace fcl {
 
class HPP_FCL_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 HPP_FCL_DLLAPI EndPoint {
    CollisionObject* obj;
 
    FCL_REAL value;
 
    char minmax;
 
    bool operator<(const EndPoint& p) const;
  };
 
  struct HPP_FCL_DLLAPI SAPInterval : public detail::SimpleInterval {
    CollisionObject* obj;
 
    SAPInterval(FCL_REAL low_, FCL_REAL 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,
      FCL_REAL& min_dist) const;
 
  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
 
  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
                 FCL_REAL& min_dist) const;
 
  std::vector<EndPoint> endpoints[3];
 
  detail::IntervalTree* interval_trees[3];
 
  std::map<CollisionObject*, SAPInterval*> obj_interval_maps[3];
 
  bool setup_;
};
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif