broadphase_interval_tree.h

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#ifndef HPP_FCL_BROAD_PHASE_INTERVAL_TREE_H
#define HPP_FCL_BROAD_PHASE_INTERVAL_TREE_H

#include <deque>
#include <map>

#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/broadphase/detail/interval_tree.h"

namespace hpp {
namespace fcl {

class HPP_FCL_DLLAPI IntervalTreeCollisionManager
    : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;

  IntervalTreeCollisionManager();

  ~IntervalTreeCollisionManager();

  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;

 protected:
  struct HPP_FCL_DLLAPI EndPoint {
    CollisionObject* obj;

    FCL_REAL value;

    char minmax;

    bool operator<(const EndPoint& p) const;
  };

  struct HPP_FCL_DLLAPI SAPInterval : public detail::SimpleInterval {
    CollisionObject* obj;

    SAPInterval(FCL_REAL low_, FCL_REAL high_, CollisionObject* obj_);
  };

  bool checkColl(
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_end,
      CollisionObject* obj, CollisionCallBackBase* callback) const;

  bool checkDist(
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval*>::const_iterator pos_end,
      CollisionObject* obj, DistanceCallBackBase* callback,
      FCL_REAL& min_dist) const;

  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;

  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
                 FCL_REAL& min_dist) const;

  std::vector<EndPoint> endpoints[3];

  detail::IntervalTree* interval_trees[3];

  std::map<CollisionObject*, SAPInterval*> obj_interval_maps[3];

  bool setup_;
};

}  // namespace fcl

}  // namespace hpp

#endif