Program Listing for File broadphase_spatialhash.h
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#ifndef HPP_FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
#define HPP_FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
#include <list>
#include <map>
#include "hpp/fcl/BV/AABB.h"
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/broadphase/detail/simple_hash_table.h"
#include "hpp/fcl/broadphase/detail/sparse_hash_table.h"
#include "hpp/fcl/broadphase/detail/spatial_hash.h"
namespace hpp {
namespace fcl {
template <typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*,
detail::SpatialHash> >
class SpatialHashingCollisionManager : public BroadPhaseCollisionManager {
public:
typedef BroadPhaseCollisionManager Base;
using Base::getObjects;
SpatialHashingCollisionManager(FCL_REAL cell_size, const Vec3f& scene_min,
const Vec3f& scene_max,
unsigned int default_table_size = 1000);
~SpatialHashingCollisionManager();
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;
static void computeBound(std::vector<CollisionObject*>& objs, Vec3f& l,
Vec3f& u);
protected:
bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
FCL_REAL& min_dist) const;
std::list<CollisionObject*> objs;
std::list<CollisionObject*> objs_partially_penetrating_scene_limit;
std::list<CollisionObject*> objs_outside_scene_limit;
AABB scene_limit;
std::map<CollisionObject*, AABB> obj_aabb_map;
HashTable* hash_table;
private:
enum ObjectStatus { Inside, PartiallyPenetrating, Outside };
template <typename Container>
bool distanceObjectToObjects(CollisionObject* obj, const Container& objs,
DistanceCallBackBase* callback,
FCL_REAL& min_dist) const;
};
} // namespace fcl
} // namespace hpp
#include "hpp/fcl/broadphase/broadphase_spatialhash-inl.h"
#endif