Program Listing for File broadphase_bruteforce.h

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#ifndef HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H
#define HPP_FCL_BROAD_PHASE_BRUTE_FORCE_H

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

namespace hpp {
namespace fcl {

class HPP_FCL_DLLAPI NaiveCollisionManager : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;

  NaiveCollisionManager();

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

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

}  // namespace fcl

}  // namespace hpp

#endif