Program Listing for File broadphase_SSaP.h
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#ifndef HPP_FCL_BROAD_PHASE_SSAP_H
#define HPP_FCL_BROAD_PHASE_SSAP_H
#include <vector>
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
namespace hpp {
namespace fcl {
class HPP_FCL_DLLAPI SSaPCollisionManager : public BroadPhaseCollisionManager {
public:
typedef BroadPhaseCollisionManager Base;
using Base::getObjects;
SSaPCollisionManager();
void registerObject(CollisionObject* obj);
void unregisterObject(CollisionObject* obj);
void setup();
virtual void update();
void clear();
void getObjects(std::vector<CollisionObject*>& objs) const;
void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
void collide(CollisionCallBackBase* callback) const;
void distance(DistanceCallBackBase* callback) const;
void collide(BroadPhaseCollisionManager* other_manager,
CollisionCallBackBase* callback) const;
void distance(BroadPhaseCollisionManager* other_manager,
DistanceCallBackBase* callback) const;
bool empty() const;
size_t size() const;
protected:
bool checkColl(
typename std::vector<CollisionObject*>::const_iterator pos_start,
typename std::vector<CollisionObject*>::const_iterator pos_end,
CollisionObject* obj, CollisionCallBackBase* callback) const;
bool checkDis(
typename std::vector<CollisionObject*>::const_iterator pos_start,
typename std::vector<CollisionObject*>::const_iterator pos_end,
CollisionObject* obj, DistanceCallBackBase* callback,
FCL_REAL& min_dist) const;
bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
FCL_REAL& min_dist) const;
static int selectOptimalAxis(
const std::vector<CollisionObject*>& objs_x,
const std::vector<CollisionObject*>& objs_y,
const std::vector<CollisionObject*>& objs_z,
typename std::vector<CollisionObject*>::const_iterator& it_beg,
typename std::vector<CollisionObject*>::const_iterator& it_end);
std::vector<CollisionObject*> objs_x;
std::vector<CollisionObject*> objs_y;
std::vector<CollisionObject*> objs_z;
bool setup_;
};
} // namespace fcl
} // namespace hpp
#endif