broadphase_SSaP.h

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#ifndef HPP_FCL_BROAD_PHASE_SSAP_H
#define HPP_FCL_BROAD_PHASE_SSAP_H

#include <vector>
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"

namespace hpp {
namespace fcl {

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

  SSaPCollisionManager();

  void registerObject(CollisionObject* obj);

  void unregisterObject(CollisionObject* obj);

  void setup();

  virtual void update();

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

  bool checkDis(
      typename std::vector<CollisionObject*>::const_iterator pos_start,
      typename std::vector<CollisionObject*>::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;

  static int selectOptimalAxis(
      const std::vector<CollisionObject*>& objs_x,
      const std::vector<CollisionObject*>& objs_y,
      const std::vector<CollisionObject*>& objs_z,
      typename std::vector<CollisionObject*>::const_iterator& it_beg,
      typename std::vector<CollisionObject*>::const_iterator& it_end);

  std::vector<CollisionObject*> objs_x;

  std::vector<CollisionObject*> objs_y;

  std::vector<CollisionObject*> objs_z;

  bool setup_;
};

}  // namespace fcl
}  // namespace hpp

#endif