Program Listing for File broadphase_SaP.h
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#ifndef HPP_FCL_BROAD_PHASE_SAP_H
#define HPP_FCL_BROAD_PHASE_SAP_H
#include <map>
#include <list>
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
namespace hpp {
namespace fcl {
class HPP_FCL_DLLAPI SaPCollisionManager : public BroadPhaseCollisionManager {
public:
typedef BroadPhaseCollisionManager Base;
using Base::getObjects;
SaPCollisionManager();
~SaPCollisionManager();
void registerObjects(const std::vector<CollisionObject*>& other_objs);
void registerObject(CollisionObject* obj);
void unregisterObject(CollisionObject* obj);
void setup();
virtual 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, 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:
struct EndPoint;
struct SaPAABB {
CollisionObject* obj;
EndPoint* lo;
EndPoint* hi;
AABB cached;
};
struct EndPoint {
char minmax;
SaPAABB* aabb;
EndPoint* prev[3];
EndPoint* next[3];
const Vec3f& getVal() const;
Vec3f& getVal();
FCL_REAL getVal(size_t i) const;
FCL_REAL& getVal(size_t i);
};
struct SaPPair {
SaPPair(CollisionObject* a, CollisionObject* b);
CollisionObject* obj1;
CollisionObject* obj2;
bool operator==(const SaPPair& other) const;
};
class HPP_FCL_DLLAPI isUnregistered {
CollisionObject* obj;
public:
isUnregistered(CollisionObject* obj_);
bool operator()(const SaPPair& pair) const;
};
class HPP_FCL_DLLAPI isNotValidPair {
CollisionObject* obj1;
CollisionObject* obj2;
public:
isNotValidPair(CollisionObject* obj1_, CollisionObject* obj2_);
bool operator()(const SaPPair& pair);
};
void update_(SaPAABB* updated_aabb);
void updateVelist();
EndPoint* elist[3];
std::vector<EndPoint*> velist[3];
std::list<SaPAABB*> AABB_arr;
std::list<SaPPair> overlap_pairs;
int optimal_axis;
std::map<CollisionObject*, SaPAABB*> obj_aabb_map;
bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
FCL_REAL& min_dist) const;
bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
void addToOverlapPairs(const SaPPair& p);
void removeFromOverlapPairs(const SaPPair& p);
};
} // namespace fcl
} // namespace hpp
#endif