broadphase_dynamic_AABB_tree_array.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */ 
 
#ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
#define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
 
#include <unordered_map>
#include <functional>
#include <limits>
 
#include "fcl/math/bv/utility.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/utility.h"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/hierarchy_tree_array.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager<S>
{
public:
 
  using DynamicAABBNode = detail::implementation_array::NodeBase<AABB<S>>;
  using DynamicAABBTable = std::unordered_map<CollisionObject<S>*, size_t>;
 
  int max_tree_nonbalanced_level;
  int tree_incremental_balance_pass;
  int& tree_topdown_balance_threshold;
  int& tree_topdown_level;
  int tree_init_level;
 
  bool octree_as_geometry_collide;
  bool octree_as_geometry_distance;
  
  DynamicAABBTreeCollisionManager_Array();
 
  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
  
  void registerObject(CollisionObject<S>* obj);
 
  void unregisterObject(CollisionObject<S>* obj);
 
  void setup();
 
  void update();
 
  void update(CollisionObject<S>* updated_obj);
 
  void update(const std::vector<CollisionObject<S>*>& updated_objs);
 
  void clear();
 
  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
 
  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
 
  void collide(void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(void* cdata, DistanceCallBack<S> callback) const;
 
  void collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const;
 
  void distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const;
  
  bool empty() const;
  
  size_t size() const;
 
  const detail::implementation_array::HierarchyTree<AABB<S>>& getTree() const;
 
private:
  detail::implementation_array::HierarchyTree<AABB<S>> dtree;
  std::unordered_map<CollisionObject<S>*, size_t> table;
 
  bool setup_;
 
  void update_(CollisionObject<S>* updated_obj);
};
 
using DynamicAABBTreeCollisionManager_Arrayf = DynamicAABBTreeCollisionManager_Array<float>;
using DynamicAABBTreeCollisionManager_Arrayd = DynamicAABBTreeCollisionManager_Array<double>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h"
 
#endif