broadphase_continuous_collision_manager.h

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#ifndef FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#define FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
 
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/narrowphase/collision_object.h"
#include "fcl/narrowphase/continuous_collision_object.h"
 
namespace fcl
{
 
template <typename S>
using ContinuousCollisionCallBack = bool (*)(
    ContinuousCollisionObject<S>* o1,
    ContinuousCollisionObject<S>* o2, void* cdata);
 
template <typename S>
using ContinuousDistanceCallBack = bool (*)(
    ContinuousCollisionObject<S>* o1,
    ContinuousCollisionObject<S>* o2, void* cdata, S& dist);
 
template <typename S>
class FCL_EXPORT BroadPhaseContinuousCollisionManager
{
public:
  BroadPhaseContinuousCollisionManager();
 
  virtual ~BroadPhaseContinuousCollisionManager();
 
  virtual void registerObjects(const std::vector<ContinuousCollisionObject<S>*>& other_objs);
 
  virtual void registerObject(ContinuousCollisionObject<S>* obj) = 0;
 
  virtual void unregisterObject(ContinuousCollisionObject<S>* obj) = 0;
 
  virtual void setup() = 0;
 
  virtual void update() = 0;
 
  virtual void update(ContinuousCollisionObject<S>* updated_obj);
 
  virtual void update(const std::vector<ContinuousCollisionObject<S>*>& updated_objs);
 
  virtual void clear() = 0;
 
  virtual void getObjects(std::vector<ContinuousCollisionObject<S>*>& objs) const = 0;
 
  virtual void collide(ContinuousCollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const = 0;
 
  virtual void distance(ContinuousCollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const = 0;
 
  virtual void collide(void* cdata, CollisionCallBack<S> callback) const = 0;
 
  virtual void distance(void* cdata, DistanceCallBack<S> callback) const = 0;
 
  virtual void collide(BroadPhaseContinuousCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const = 0;
 
  virtual void distance(BroadPhaseContinuousCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const = 0;
 
  virtual bool empty() const = 0;
  
  virtual size_t size() const = 0;
};
 
using BroadPhaseContinuousCollisionManagerf = BroadPhaseContinuousCollisionManager<float>;
using BroadPhaseContinuousCollisionManagerd = BroadPhaseContinuousCollisionManager<double>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_continuous_collision_manager-inl.h"
 
#endif