broadphase_spatialhash.h

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#ifndef HPP_FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
#define HPP_FCL_BROADPHASE_BROADPAHSESPATIALHASH_H

#include <list>
#include <map>
#include "hpp/fcl/BV/AABB.h"
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/broadphase/detail/simple_hash_table.h"
#include "hpp/fcl/broadphase/detail/sparse_hash_table.h"
#include "hpp/fcl/broadphase/detail/spatial_hash.h"

namespace hpp {
namespace fcl {

template <typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*,
                                                       detail::SpatialHash> >
class SpatialHashingCollisionManager : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;

  SpatialHashingCollisionManager(FCL_REAL cell_size, const Vec3f& scene_min,
                                 const Vec3f& scene_max,
                                 unsigned int default_table_size = 1000);

  ~SpatialHashingCollisionManager();

  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;

  static void computeBound(std::vector<CollisionObject*>& objs, Vec3f& l,
                           Vec3f& u);

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

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

  std::list<CollisionObject*> objs;

  std::list<CollisionObject*> objs_partially_penetrating_scene_limit;

  std::list<CollisionObject*> objs_outside_scene_limit;

  AABB scene_limit;

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

  HashTable* hash_table;

 private:
  enum ObjectStatus { Inside, PartiallyPenetrating, Outside };

  template <typename Container>
  bool distanceObjectToObjects(CollisionObject* obj, const Container& objs,
                               DistanceCallBackBase* callback,
                               FCL_REAL& min_dist) const;
};

}  // namespace fcl

}  // namespace hpp

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

#endif