broadphase_SaP.h

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#ifndef HPP_FCL_BROAD_PHASE_SAP_H
#define HPP_FCL_BROAD_PHASE_SAP_H

#include <map>
#include <list>

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

namespace hpp {
namespace fcl {

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

  SaPCollisionManager();

  ~SaPCollisionManager();

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

  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 EndPoint;

  struct SaPAABB {
    CollisionObject* obj;

    EndPoint* lo;

    EndPoint* hi;

    AABB cached;
  };

  struct EndPoint {
    char minmax;

    SaPAABB* aabb;

    EndPoint* prev[3];

    EndPoint* next[3];

    const Vec3f& getVal() const;

    Vec3f& getVal();

    FCL_REAL getVal(size_t i) const;

    FCL_REAL& getVal(size_t i);
  };

  struct SaPPair {
    SaPPair(CollisionObject* a, CollisionObject* b);

    CollisionObject* obj1;
    CollisionObject* obj2;

    bool operator==(const SaPPair& other) const;
  };

  class HPP_FCL_DLLAPI isUnregistered {
    CollisionObject* obj;

   public:
    isUnregistered(CollisionObject* obj_);

    bool operator()(const SaPPair& pair) const;
  };

  class HPP_FCL_DLLAPI isNotValidPair {
    CollisionObject* obj1;
    CollisionObject* obj2;

   public:
    isNotValidPair(CollisionObject* obj1_, CollisionObject* obj2_);

    bool operator()(const SaPPair& pair);
  };

  void update_(SaPAABB* updated_aabb);

  void updateVelist();

  EndPoint* elist[3];

  std::vector<EndPoint*> velist[3];

  std::list<SaPAABB*> AABB_arr;

  std::list<SaPPair> overlap_pairs;

  int optimal_axis;

  std::map<CollisionObject*, SaPAABB*> obj_aabb_map;

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

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

  void addToOverlapPairs(const SaPPair& p);

  void removeFromOverlapPairs(const SaPPair& p);
};

}  // namespace fcl
}  // namespace hpp

#endif