broadphase_SaP.h

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#ifndef FCL_BROAD_PHASE_SAP_H
#define FCL_BROAD_PHASE_SAP_H
 
#include <map>
#include <list>
 
#include "fcl/broadphase/broadphase_collision_manager.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
 
  SaPCollisionManager();
 
  ~SaPCollisionManager();
 
  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
 
  void registerObject(CollisionObject<S>* obj);
 
  void unregisterObject(CollisionObject<S>* obj);
 
  void setup();
 
  void update();
 
  void update(CollisionObject<S>* updated_obj);
 
  void update(const std::vector<CollisionObject<S>*>& updated_objs);
 
  void clear();
 
  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
 
  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
 
  void collide(void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(void* cdata, DistanceCallBack<S> callback) const;
 
  void collide(BroadPhaseCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(BroadPhaseCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const;
 
  bool empty() const;
  
  size_t size() const;
 
protected:
 
  struct SaPAABB;
 
  struct EndPoint;
 
  struct SaPPair;
 
  class FCL_EXPORT isUnregistered;
 
  class FCL_EXPORT isNotValidPair;
 
  void update_(SaPAABB* updated_aabb);
 
  void updateVelist();
 
  EndPoint* elist[3];
  
  std::vector<EndPoint*> velist[3];
 
  std::list<SaPAABB*> AABB_arr;
 
  std::list<SaPPair> overlap_pairs;
 
  size_t optimal_axis;
 
  std::map<CollisionObject<S>*, SaPAABB*> obj_aabb_map;
 
  bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
 
  bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
 
  void addToOverlapPairs(const SaPPair& p);
 
  void removeFromOverlapPairs(const SaPPair& p);
};
 
using SaPCollisionManagerf = SaPCollisionManager<float>;
using SaPCollisionManagerd = SaPCollisionManager<double>;
 
template <typename S>
struct SaPCollisionManager<S>::SaPAABB
{
  CollisionObject<S>* obj;
 
  typename SaPCollisionManager<S>::EndPoint* lo;
 
  typename SaPCollisionManager<S>::EndPoint* hi;
 
  AABB<S> cached;
};
 
template <typename S>
struct SaPCollisionManager<S>::EndPoint
{
  char minmax;
 
  typename SaPCollisionManager<S>::SaPAABB* aabb;
 
  EndPoint* prev[3];
 
  EndPoint* next[3];
 
  const Vector3<S>& getVal() const;
 
  Vector3<S>& getVal();
 
  S getVal(size_t i) const;
 
  S& getVal(size_t i);
 
};
 
template <typename S>
struct SaPCollisionManager<S>::SaPPair
{
  SaPPair(CollisionObject<S>* a, CollisionObject<S>* b);
 
  CollisionObject<S>* obj1;
  CollisionObject<S>* obj2;
 
  bool operator == (const SaPPair& other) const;
};
 
template <typename S>
class FCL_EXPORT SaPCollisionManager<S>::isUnregistered
{
  CollisionObject<S>* obj;
 
public:
  isUnregistered(CollisionObject<S>* obj_);
 
  bool operator() (const SaPPair& pair) const;
};
 
template <typename S>
class FCL_EXPORT SaPCollisionManager<S>::isNotValidPair
{
  CollisionObject<S>* obj1;
  CollisionObject<S>* obj2;
 
public:
  isNotValidPair(CollisionObject<S>* obj1_, CollisionObject<S>* obj2_);
 
  bool operator() (const SaPPair& pair);
};
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_SaP-inl.h"
 
#endif