broadphase_continuous_collision_manager.h

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#ifndef HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#define HPP_FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H

#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/collision_object.h"
#include "hpp/fcl/narrowphase/continuous_collision_object.h"

namespace hpp {
namespace fcl {

template <typename S>
using ContinuousCollisionCallBack = bool (*)(ContinuousCollisionObject* o1,
                                             ContinuousCollisionObject* o2,
                                             void* cdata);

template <typename S>
using ContinuousDistanceCallBack = bool (*)(ContinuousCollisionObject* o1,
                                            ContinuousCollisionObject* o2,
                                            S& dist);

template <typename S>
class HPP_FCL_DLLAPI BroadPhaseContinuousCollisionManager {
 public:
  BroadPhaseContinuousCollisionManager();

  virtual ~BroadPhaseContinuousCollisionManager();

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

  virtual void registerObject(ContinuousCollisionObject* obj) = 0;

  virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;

  virtual void setup() = 0;

  virtual void update() = 0;

  virtual void update(ContinuousCollisionObject* updated_obj);

  virtual void update(
      const std::vector<ContinuousCollisionObject*>& updated_objs);

  virtual void clear() = 0;

  virtual void getObjects(
      std::vector<ContinuousCollisionObject*>& objs) const = 0;

  virtual void collide(ContinuousCollisionObject* obj,
                       CollisionCallBackBase* callback) const = 0;

  virtual void distance(ContinuousCollisionObject* obj,
                        DistanceCallBackBase* callback) const = 0;

  virtual void collide(CollisionCallBackBase* callback) const = 0;

  virtual void distance(DistanceCallBackBase* callback) const = 0;

  virtual void collide(BroadPhaseContinuousCollisionManager* other_manager,
                       CollisionCallBackBase* callback) const = 0;

  virtual void distance(BroadPhaseContinuousCollisionManager* other_manager,
                        DistanceCallBackBase* callback) const = 0;

  virtual bool empty() const = 0;

  virtual size_t size() const = 0;
};

using BroadPhaseContinuousCollisionManagerf =
    BroadPhaseContinuousCollisionManager<float>;
using BroadPhaseContinuousCollisionManagerd =
    BroadPhaseContinuousCollisionManager<FCL_REAL>;

}  // namespace fcl

}  // namespace hpp

#include "hpp/fcl/broadphase/broadphase_continuous_collision_manager-inl.h"

#endif