broadphase_dynamic_AABB_tree_array.h

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#ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
#define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
 
#include <unordered_map>
#include <functional>
#include <limits>
 
#include "hpp/fcl/fwd.hh"
// #include "hpp/fcl/BV/utility.h"
#include "hpp/fcl/shape/geometric_shapes.h"
// #include "hpp/fcl/geometry/shape/utility.h"
#include "hpp/fcl/broadphase/broadphase_collision_manager.h"
#include "hpp/fcl/broadphase/detail/hierarchy_tree_array.h"
 
namespace hpp {
namespace fcl {
 
class HPP_FCL_DLLAPI DynamicAABBTreeArrayCollisionManager
    : public BroadPhaseCollisionManager {
 public:
  typedef BroadPhaseCollisionManager Base;
  using Base::getObjects;
 
  using DynamicAABBNode = detail::implementation_array::NodeBase<AABB>;
  using DynamicAABBTable = std::unordered_map<CollisionObject*, size_t>;
 
  int max_tree_nonbalanced_level;
  int tree_incremental_balance_pass;
  int* tree_topdown_balance_threshold{nullptr};
  int* tree_topdown_level{nullptr};
  int tree_init_level;
 
  bool octree_as_geometry_collide;
  bool octree_as_geometry_distance;
 
  DynamicAABBTreeArrayCollisionManager();
 
  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;
 
  const detail::implementation_array::HierarchyTree<AABB>& getTree() const;
 
 private:
  detail::implementation_array::HierarchyTree<AABB> dtree{};
  std::unordered_map<CollisionObject*, size_t> table;
 
  bool setup_;
 
  void update_(CollisionObject* updated_obj);
};
 
}  // namespace fcl
 
}  // namespace hpp
 
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h"
 
#endif