broadphase_SSaP.h

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#ifndef FCL_BROAD_PHASE_SSAP_H
#define FCL_BROAD_PHASE_SSAP_H
 
#include <vector>
#include "fcl/broadphase/broadphase_collision_manager.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT SSaPCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
  SSaPCollisionManager();
 
  void registerObject(CollisionObject<S>* obj);
 
  void unregisterObject(CollisionObject<S>* obj);
 
  void setup();
 
  void update();
 
  void clear();
 
  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
 
  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
 
  void collide(void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(void* cdata, DistanceCallBack<S> callback) const;
 
  void collide(BroadPhaseCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(BroadPhaseCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const;
 
  bool empty() const;
  
  size_t size() const;
 
protected:
  bool checkColl(typename std::vector<CollisionObject<S>*>::const_iterator pos_start, typename std::vector<CollisionObject<S>*>::const_iterator pos_end,
                 CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
  
  bool checkDis(typename std::vector<CollisionObject<S>*>::const_iterator pos_start, typename std::vector<CollisionObject<S>*>::const_iterator pos_end,
                CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
 
  bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
  
  bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
 
  static size_t selectOptimalAxis(
      const std::vector<CollisionObject<S>*>& objs_x,
      const std::vector<CollisionObject<S>*>& objs_y,
      const std::vector<CollisionObject<S>*>& objs_z,
      typename std::vector<CollisionObject<S>*>::const_iterator& it_beg,
      typename std::vector<CollisionObject<S>*>::const_iterator& it_end);
 
  std::vector<CollisionObject<S>*> objs_x;
 
  std::vector<CollisionObject<S>*> objs_y;
 
  std::vector<CollisionObject<S>*> objs_z;
 
  bool setup_;
};
 
using SSaPCollisionManagerf = SSaPCollisionManager<float>;
using SSaPCollisionManagerd = SSaPCollisionManager<double>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_SSaP-inl.h"
 
#endif