broadphase_interval_tree.h

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#ifndef FCL_BROAD_PHASE_INTERVAL_TREE_H
#define FCL_BROAD_PHASE_INTERVAL_TREE_H
 
#include <deque>
#include <map>
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/interval_tree.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT IntervalTreeCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
  IntervalTreeCollisionManager();
 
  ~IntervalTreeCollisionManager();
 
  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;
 
protected:
 
  struct EndPoint;
 
  struct SAPInterval;
 
  bool checkColl(
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_end,
      CollisionObject<S>* obj,
      void* cdata,
      CollisionCallBack<S> callback) const;
 
  bool checkDist(
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_end,
      CollisionObject<S>* obj,
      void* cdata,
      DistanceCallBack<S> callback,
      S& min_dist) const;
 
  bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
 
  bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
 
  std::vector<EndPoint> endpoints[3];
 
  detail::IntervalTree<S>* interval_trees[3];
 
  std::map<CollisionObject<S>*, SAPInterval*> obj_interval_maps[3];
 
  bool setup_;
};
 
using IntervalTreeCollisionManagerf = IntervalTreeCollisionManager<float>;
using IntervalTreeCollisionManagerd = IntervalTreeCollisionManager<double>;
 
template <typename S>
struct FCL_EXPORT IntervalTreeCollisionManager<S>::EndPoint
{
  CollisionObject<S>* obj;
 
  S value;
 
  char minmax;
 
  bool operator<(const EndPoint &p) const;
};
 
template <typename S>
struct FCL_EXPORT IntervalTreeCollisionManager<S>::SAPInterval : public detail::SimpleInterval<S>
{
  CollisionObject<S>* obj;
 
  SAPInterval(S low_, S high_, CollisionObject<S>* obj_);
};
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_interval_tree-inl.h"
 
#endif