broadphase_SaP.h

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#ifndef FCL_BROAD_PHASE_SAP_H
#define FCL_BROAD_PHASE_SAP_H

#include "fcl/broadphase/broadphase.h"

#include <map>
#include <list>

namespace fcl
{

class SaPCollisionManager : public BroadPhaseCollisionManager
{
public:

  SaPCollisionManager()
  {
    elist[0] = NULL;
    elist[1] = NULL;
    elist[2] = NULL;

    optimal_axis = 0;
  }

  ~SaPCollisionManager()
  {
    clear();
  }

  void registerObjects(const std::vector<CollisionObject*>& other_objs);

  void registerObject(CollisionObject* obj);

  void unregisterObject(CollisionObject* obj);

  void setup();

  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, void* cdata, CollisionCallBack callback) const;

  void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const;

  void collide(void* cdata, CollisionCallBack callback) const;

  void distance(void* cdata, DistanceCallBack callback) const;

  void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const;

  void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const;

  bool empty() const;
  
  inline size_t size() const { return AABB_arr.size(); }

protected:

  struct EndPoint;

  struct SaPAABB
  {
    CollisionObject* obj;

    EndPoint* lo;

    EndPoint* hi;

    AABB cached;
  };

  struct EndPoint
  {
    char minmax;

    SaPAABB* aabb;

    EndPoint* prev[3];
    EndPoint* next[3];

    inline const Vec3f& getVal() const
    {
      if(minmax) return aabb->cached.max_;
      else return aabb->cached.min_;
    }

    inline Vec3f& getVal()
    {
      if(minmax) return aabb->cached.max_;
      else return aabb->cached.min_;
    }

    inline Vec3f::U getVal(size_t i) const
    {
      if(minmax) return aabb->cached.max_[i];
      else return aabb->cached.min_[i];
    }

    inline Vec3f::U& getVal(size_t i)
    {
      if(minmax) return aabb->cached.max_[i];
      else return aabb->cached.min_[i];
    }

  };

  struct SaPPair
  {
    SaPPair(CollisionObject* a, CollisionObject* b)
    {
      if(a < b)
      {
        obj1 = a;
        obj2 = b;
      }
      else
      {
        obj1 = b;
        obj2 = a;
      }
    }

    CollisionObject* obj1;
    CollisionObject* obj2;

    bool operator == (const SaPPair& other) const
    {
      return ((obj1 == other.obj1) && (obj2 == other.obj2));
    }
  };

  class isUnregistered
  {
    CollisionObject* obj;

  public:
    isUnregistered(CollisionObject* obj_) : obj(obj_)
    {}

    bool operator() (const SaPPair& pair) const
    {
      return (pair.obj1 == obj) || (pair.obj2 == obj);
    }
  };

  class isNotValidPair
  {
    CollisionObject* obj1;
    CollisionObject* obj2;

  public:
    isNotValidPair(CollisionObject* obj1_, CollisionObject* obj2_) : obj1(obj1_),
                                                                     obj2(obj2_)
    {}

    bool operator() (const SaPPair& pair)
    {
      return (pair.obj1 == obj1) && (pair.obj2 == obj2);
    }
  };

  void update_(SaPAABB* updated_aabb);

  void updateVelist() 
  {
    for(int coord = 0; coord < 3; ++coord)
    {
      velist[coord].resize(size() * 2);
      EndPoint* current = elist[coord];
      size_t id = 0;
      while(current)
      {
        velist[coord][id] = current;
        current = current->next[coord];
        id++;
      }
    }    
  }

  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*, SaPAABB*> obj_aabb_map;

  bool distance_(CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;

  bool collide_(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;

  void addToOverlapPairs(const SaPPair& p)
  {
    bool repeated = false;
    for(std::list<SaPPair>::iterator it = overlap_pairs.begin(), end = overlap_pairs.end();
        it != end;
        ++it)
    {
      if(*it == p)
      {
        repeated = true;
        break;
      }
    }

    if(!repeated)
      overlap_pairs.push_back(p);
  }

  void removeFromOverlapPairs(const SaPPair& p)
  {
    for(std::list<SaPPair>::iterator it = overlap_pairs.begin(), end = overlap_pairs.end();
        it != end;
        ++it)
    {
      if(*it == p)
      {
        overlap_pairs.erase(it);
        break;
      }
    }

    // or overlap_pairs.remove_if(isNotValidPair(p));
  }
};



}


#endif