broadphase_spatialhash.h

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#ifndef FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
#define FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
 
#include <list>
#include <map>
#include "fcl/math/bv/AABB.h"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/simple_hash_table.h"
#include "fcl/broadphase/detail/sparse_hash_table.h"
#include "fcl/broadphase/detail/spatial_hash.h"
 
namespace fcl
{
 
template<typename S,
         typename HashTable
             = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >
class FCL_EXPORT SpatialHashingCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
  SpatialHashingCollisionManager(
      S cell_size,
      const Vector3<S>& scene_min,
      const Vector3<S>& scene_max,
      unsigned int default_table_size = 1000);
 
  ~SpatialHashingCollisionManager();
 
  void registerObject(CollisionObject<S>* obj);
 
  void unregisterObject(CollisionObject<S>* obj);
 
  void setup();
 
  void update();
 
  void update(CollisionObject<S>* updated_obj);
 
  void update(const std::vector<CollisionObject<S>*>& updated_objs);
 
  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;
 
  static void computeBound(std::vector<CollisionObject<S>*>& objs, Vector3<S>& l, Vector3<S>& u);
 
protected:
 
  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;
 
  std::list<CollisionObject<S>*> objs;
 
  std::list<CollisionObject<S>*> objs_partially_penetrating_scene_limit;
 
  std::list<CollisionObject<S>*> objs_outside_scene_limit;
 
  AABB<S> scene_limit;
 
  std::map<CollisionObject<S>*, AABB<S>> obj_aabb_map;
 
  HashTable* hash_table;
 
private:
 
  enum ObjectStatus
  {
    Inside,
    PartiallyPenetrating,
    Outside
  };
 
  template <typename Container>
  bool distanceObjectToObjects(
      CollisionObject<S>* obj,
      const Container& objs,
      void* cdata,
      DistanceCallBack<S> callback,
      S& min_dist) const;
 
};
 
template<typename HashTable = detail::SimpleHashTable<AABB<float>, CollisionObject<float>*, detail::SpatialHash<float>>>
using SpatialHashingCollisionManagerf = SpatialHashingCollisionManager<float, HashTable>;
 
template<typename HashTable = detail::SimpleHashTable<AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>
using SpatialHashingCollisionManagerd = SpatialHashingCollisionManager<double, HashTable>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_spatialhash-inl.h"
 
#endif