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