broadphase_bruteforce.h

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#ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
#define FCL_BROAD_PHASE_BRUTE_FORCE_H

#include "fcl/broadphase/broadphase.h"
#include <list>


namespace fcl
{

class NaiveCollisionManager : public BroadPhaseCollisionManager
{
public:
  NaiveCollisionManager() {}

  void registerObjects(const std::vector<CollisionObject*>& other_objs);

  void registerObject(CollisionObject* obj);

  void unregisterObject(CollisionObject* obj);

  void setup();

  void update();

  void clear();

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

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

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

  void collide(void* cdata, CollisionCallBack callback) const;

  void distance(void* cdata, DistanceCallBack callback) const;

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

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

  bool empty() const;
  
  inline size_t size() const { return objs.size(); }

protected:

  std::list<CollisionObject*> objs;
};


}

#endif