broadphase_interval_tree.h

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#ifndef FCL_BROAD_PHASE_INTERVAL_TREE_H
#define FCL_BROAD_PHASE_INTERVAL_TREE_H

#include "fcl/broadphase/broadphase.h"
#include "fcl/broadphase/interval_tree.h"
#include <deque>
#include <map>

namespace fcl
{

class IntervalTreeCollisionManager : public BroadPhaseCollisionManager
{
public:
  IntervalTreeCollisionManager() : setup_(false)
  {
    for(int i = 0; i < 3; ++i)
      interval_trees[i] = NULL;
  }

  ~IntervalTreeCollisionManager()
  {
    clear();
  }

  void registerObject(CollisionObject* obj);

  void unregisterObject(CollisionObject* obj);

  void setup();

  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, 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 endpoints[0].size() / 2; }

protected:


  struct EndPoint
  {
    CollisionObject* obj;

    FCL_REAL value;

    char minmax;
  };

  struct SAPInterval : public SimpleInterval
  {
    CollisionObject* obj;
    SAPInterval(double low_, double high_, CollisionObject* obj_) : SimpleInterval()
    {
      low = low_;
      high = high_;
      obj = obj_;
    }
  };


  bool checkColl(std::deque<SimpleInterval*>::const_iterator pos_start, std::deque<SimpleInterval*>::const_iterator pos_end, CollisionObject* obj, void* cdata, CollisionCallBack callback) const;

  bool checkDist(std::deque<SimpleInterval*>::const_iterator pos_start, std::deque<SimpleInterval*>::const_iterator pos_end, CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;

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

  bool distance_(CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;

  std::vector<EndPoint> endpoints[3];

  IntervalTree* interval_trees[3];

  std::map<CollisionObject*, SAPInterval*> obj_interval_maps[3];

  bool setup_;
};


}

#endif