Program Listing for File broadphase_collision_manager.h
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#ifndef HPP_FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
#define HPP_FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
#include <set>
#include <vector>
#include <boost/function.hpp>
#include "hpp/fcl/collision_object.h"
#include "hpp/fcl/broadphase/broadphase_callbacks.h"
namespace hpp {
namespace fcl {
class HPP_FCL_DLLAPI BroadPhaseCollisionManager {
public:
BroadPhaseCollisionManager();
virtual ~BroadPhaseCollisionManager();
virtual void registerObjects(const std::vector<CollisionObject*>& other_objs);
virtual void registerObject(CollisionObject* obj) = 0;
virtual void unregisterObject(CollisionObject* obj) = 0;
virtual void setup() = 0;
virtual void update() = 0;
virtual void update(CollisionObject* updated_obj);
virtual void update(const std::vector<CollisionObject*>& updated_objs);
virtual void clear() = 0;
virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;
virtual std::vector<CollisionObject*> getObjects() const {
std::vector<CollisionObject*> res(size());
getObjects(res);
return res;
};
virtual void collide(CollisionObject* obj,
CollisionCallBackBase* callback) const = 0;
virtual void distance(CollisionObject* obj,
DistanceCallBackBase* callback) const = 0;
virtual void collide(CollisionCallBackBase* callback) const = 0;
virtual void distance(DistanceCallBackBase* callback) const = 0;
virtual void collide(BroadPhaseCollisionManager* other_manager,
CollisionCallBackBase* callback) const = 0;
virtual void distance(BroadPhaseCollisionManager* other_manager,
DistanceCallBackBase* callback) const = 0;
virtual bool empty() const = 0;
virtual size_t size() const = 0;
protected:
mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
mutable bool enable_tested_set_;
bool inTestedSet(CollisionObject* a, CollisionObject* b) const;
void insertTestedSet(CollisionObject* a, CollisionObject* b) const;
};
} // namespace fcl
} // namespace hpp
#endif