broadphase.h

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#ifndef FCL_BROAD_PHASE_H
#define FCL_BROAD_PHASE_H

#include "fcl/collision_object.h"
#include <set>
#include <vector>

namespace fcl
{


typedef bool (*CollisionCallBack)(CollisionObject* o1, CollisionObject* o2, void* cdata);

typedef bool (*DistanceCallBack)(CollisionObject* o1, CollisionObject* o2, void* cdata, FCL_REAL& dist);


class BroadPhaseCollisionManager
{
public:
  BroadPhaseCollisionManager() : enable_tested_set_(false)
  {
  }

  virtual ~BroadPhaseCollisionManager() {}

  virtual void registerObjects(const std::vector<CollisionObject*>& other_objs)
  {
    for(size_t i = 0; i < other_objs.size(); ++i)
      registerObject(other_objs[i]);
  }

  virtual void registerObject(CollisionObject* obj) = 0;

  virtual void unregisterObject(CollisionObject* obj) = 0;

  virtual void setup() = 0;

  virtual void update() = 0;

  virtual void update(CollisionObject* updated_obj)
  {
    update();
  }

  virtual void update(const std::vector<CollisionObject*>& updated_objs)
  {
    update();
  }

  virtual void clear() = 0;

  virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;

  virtual void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const = 0;

  virtual void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const = 0;

  virtual void collide(void* cdata, CollisionCallBack callback) const = 0;

  virtual void distance(void* cdata, DistanceCallBack callback) const = 0;

  virtual void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const = 0;

  virtual void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const = 0;

  virtual bool empty() const = 0;
  
  virtual size_t size() const = 0;

protected:

  mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
  mutable bool enable_tested_set_;

  bool inTestedSet(CollisionObject* a, CollisionObject* b) const
  {
    if(a < b) return tested_set.find(std::make_pair(a, b)) != tested_set.end();
    else return tested_set.find(std::make_pair(b, a)) != tested_set.end();
  }

  void insertTestedSet(CollisionObject* a, CollisionObject* b) const
  {
    if(a < b) tested_set.insert(std::make_pair(a, b));
    else tested_set.insert(std::make_pair(b, a));
  }

};


}


#include "fcl/broadphase/broadphase_bruteforce.h"
#include "fcl/broadphase/broadphase_spatialhash.h"
#include "fcl/broadphase/broadphase_SaP.h"
#include "fcl/broadphase/broadphase_SSaP.h"
#include "fcl/broadphase/broadphase_interval_tree.h"
#include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"

#endif