broadphase_bruteforce.h

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#ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
#define FCL_BROAD_PHASE_BRUTE_FORCE_H
 
#include <list>
#include "fcl/broadphase/broadphase_collision_manager.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT NaiveCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
  NaiveCollisionManager();
 
  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
 
  void registerObject(CollisionObject<S>* obj);
 
  void unregisterObject(CollisionObject<S>* obj);
 
  void setup();
 
  void update();
 
  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;
 
protected:
 
  std::list<CollisionObject<S>*> objs;
};
 
using NaiveCollisionManagerf = NaiveCollisionManager<float>;
using NaiveCollisionManagerd = NaiveCollisionManager<double>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_bruteforce-inl.h"
 
#endif