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#ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
#define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
#include <unordered_map>
#include <functional>
#include <limits>
#include "hpp/fcl/fwd.hh"
// #include "hpp/fcl/BV/utility.h"
#include "hpp/fcl/shape/geometric_shapes.h"
// #include "hpp/fcl/geometry/shape/utility.h"
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/broadphase/detail/hierarchy_tree_array.h"
namespace hpp {
namespace fcl {
class HPP_FCL_DLLAPI DynamicAABBTreeArrayCollisionManager
: public BroadPhaseCollisionManager {
public:
typedef BroadPhaseCollisionManager Base;
using Base::getObjects;
using DynamicAABBNode = detail::implementation_array::NodeBase<AABB>;
using DynamicAABBTable = std::unordered_map<CollisionObject*, size_t>;
int max_tree_nonbalanced_level;
int tree_incremental_balance_pass;
int* tree_topdown_balance_threshold{nullptr};
int* tree_topdown_level{nullptr};
int tree_init_level;
bool octree_as_geometry_collide;
bool octree_as_geometry_distance;
DynamicAABBTreeArrayCollisionManager();
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;
const detail::implementation_array::HierarchyTree<AABB>& getTree() const;
private:
detail::implementation_array::HierarchyTree<AABB> dtree{};
std::unordered_map<CollisionObject*, size_t> table;
bool setup_;
void update_(CollisionObject* updated_obj);
};
} // namespace fcl
} // namespace hpp
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h"
#endif