broadphase_collision_manager.h

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#ifndef FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
#define FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
 
#include <set>
#include <vector>
 
#include "fcl/narrowphase/collision_object.h"
 
namespace fcl
{
 
template <typename S>
using CollisionCallBack = bool (*)(
    CollisionObject<S>* o1, CollisionObject<S>* o2, void* cdata);
 
template <typename S>
using DistanceCallBack = bool (*)(
    CollisionObject<S>* o1,
    CollisionObject<S>* o2, void* cdata, S& dist);
 
template <typename S>
class FCL_EXPORT BroadPhaseCollisionManager
{
public:
  BroadPhaseCollisionManager();
 
  virtual ~BroadPhaseCollisionManager();
 
  virtual void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
 
  virtual void registerObject(CollisionObject<S>* obj) = 0;
 
  virtual void unregisterObject(CollisionObject<S>* obj) = 0;
 
  virtual void setup() = 0;
 
  virtual void update() = 0;
 
  virtual void update(CollisionObject<S>* updated_obj);
 
  virtual void update(const std::vector<CollisionObject<S>*>& updated_objs);
 
  virtual void clear() = 0;
 
  virtual void getObjects(std::vector<CollisionObject<S>*>& objs) const = 0;
 
  virtual void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const = 0;
 
  virtual void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const = 0;
 
  virtual void collide(void* cdata, CollisionCallBack<S> callback) const = 0;
 
  virtual void distance(void* cdata, DistanceCallBack<S> callback) const = 0;
 
  virtual void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack<S> callback) const = 0;
 
  virtual void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack<S> callback) const = 0;
 
  virtual bool empty() const = 0;
  
  virtual size_t size() const = 0;
 
protected:
 
  mutable std::set<std::pair<CollisionObject<S>*, CollisionObject<S>*> > tested_set;
  mutable bool enable_tested_set_;
 
  bool inTestedSet(CollisionObject<S>* a, CollisionObject<S>* b) const;
 
  void insertTestedSet(CollisionObject<S>* a, CollisionObject<S>* b) const;
 
};
 
using BroadPhaseCollisionManagerf = BroadPhaseCollisionManager<float>;
using BroadPhaseCollisionManagerd = BroadPhaseCollisionManager<double>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_collision_manager-inl.h"
 
#endif