Program Listing for File broadphase_continuous_collision_manager.h
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#ifndef HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#define HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/collision_object.h"
#include "hpp/fcl/narrowphase/continuous_collision_object.h"
namespace hpp {
namespace fcl {
template <typename S>
using ContinuousCollisionCallBack = bool (*)(ContinuousCollisionObject* o1,
ContinuousCollisionObject* o2,
void* cdata);
template <typename S>
using ContinuousDistanceCallBack = bool (*)(ContinuousCollisionObject* o1,
ContinuousCollisionObject* o2,
S& dist);
template <typename S>
class HPP_FCL_DLLAPI BroadPhaseContinuousCollisionManager {
public:
BroadPhaseContinuousCollisionManager();
virtual ~BroadPhaseContinuousCollisionManager();
virtual void registerObjects(
const std::vector<ContinuousCollisionObject*>& other_objs);
virtual void registerObject(ContinuousCollisionObject* obj) = 0;
virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;
virtual void setup() = 0;
virtual void update() = 0;
virtual void update(ContinuousCollisionObject* updated_obj);
virtual void update(
const std::vector<ContinuousCollisionObject*>& updated_objs);
virtual void clear() = 0;
virtual void getObjects(
std::vector<ContinuousCollisionObject*>& objs) const = 0;
virtual void collide(ContinuousCollisionObject* obj,
CollisionCallBackBase* callback) const = 0;
virtual void distance(ContinuousCollisionObject* obj,
DistanceCallBackBase* callback) const = 0;
virtual void collide(CollisionCallBackBase* callback) const = 0;
virtual void distance(DistanceCallBackBase* callback) const = 0;
virtual void collide(BroadPhaseContinuousCollisionManager* other_manager,
CollisionCallBackBase* callback) const = 0;
virtual void distance(BroadPhaseContinuousCollisionManager* other_manager,
DistanceCallBackBase* callback) const = 0;
virtual bool empty() const = 0;
virtual size_t size() const = 0;
};
using BroadPhaseContinuousCollisionManagerf =
BroadPhaseContinuousCollisionManager<float>;
using BroadPhaseContinuousCollisionManagerd =
BroadPhaseContinuousCollisionManager<FCL_REAL>;
} // namespace fcl
} // namespace hpp
#include "hpp/fcl/broadphase/broadphase_continuous_collision_manager-inl.h"
#endif