broadphase_bruteforce.cpp

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#include "hpp/fcl/broadphase/broadphase_bruteforce.h"
 
#include <iterator>
#include <algorithm>
 
namespace hpp {
namespace fcl {
 
//==============================================================================
NaiveCollisionManager::NaiveCollisionManager() {
  // Do nothing
}
 
//==============================================================================
void NaiveCollisionManager::registerObjects(
    const std::vector<CollisionObject*>& other_objs) {
  std::copy(other_objs.begin(), other_objs.end(), std::back_inserter(objs));
}
 
//==============================================================================
void NaiveCollisionManager::unregisterObject(CollisionObject* obj) {
  objs.remove(obj);
}
 
//==============================================================================
void NaiveCollisionManager::registerObject(CollisionObject* obj) {
  objs.push_back(obj);
}
 
//==============================================================================
void NaiveCollisionManager::setup() {
  // Do nothing
}
 
//==============================================================================
void NaiveCollisionManager::update() {
  // Do nothing
}
 
//==============================================================================
void NaiveCollisionManager::clear() { objs.clear(); }
 
//==============================================================================
void NaiveCollisionManager::getObjects(
    std::vector<CollisionObject*>& objs_) const {
  objs_.resize(objs.size());
  std::copy(objs.begin(), objs.end(), objs_.begin());
}
 
//==============================================================================
void NaiveCollisionManager::collide(CollisionObject* obj,
                                    CollisionCallBackBase* callback) const {
  callback->init();
  if (size() == 0) return;
 
  for (auto* obj2 : objs) {
    if ((*callback)(obj, obj2)) return;
  }
}
 
//==============================================================================
void NaiveCollisionManager::distance(CollisionObject* obj,
                                     DistanceCallBackBase* callback) const {
  callback->init();
  if (size() == 0) return;
 
  FCL_REAL min_dist = (std::numeric_limits<FCL_REAL>::max)();
  for (auto* obj2 : objs) {
    if (obj->getAABB().distance(obj2->getAABB()) < min_dist) {
      if ((*callback)(obj, obj2, min_dist)) return;
    }
  }
}
 
//==============================================================================
void NaiveCollisionManager::collide(CollisionCallBackBase* callback) const {
  callback->init();
  if (size() == 0) return;
 
  for (typename std::list<CollisionObject*>::const_iterator it1 = objs.begin(),
                                                            end = objs.end();
       it1 != end; ++it1) {
    typename std::list<CollisionObject*>::const_iterator it2 = it1;
    it2++;
    for (; it2 != end; ++it2) {
      if ((*it1)->getAABB().overlap((*it2)->getAABB())) {
        if ((*callback)(*it1, *it2)) return;
      }
    }
  }
}
 
//==============================================================================
void NaiveCollisionManager::distance(DistanceCallBackBase* callback) const {
  callback->init();
  if (size() == 0) return;
 
  FCL_REAL min_dist = (std::numeric_limits<FCL_REAL>::max)();
  for (typename std::list<CollisionObject*>::const_iterator it1 = objs.begin(),
                                                            end = objs.end();
       it1 != end; ++it1) {
    typename std::list<CollisionObject*>::const_iterator it2 = it1;
    it2++;
    for (; it2 != end; ++it2) {
      if ((*it1)->getAABB().distance((*it2)->getAABB()) < min_dist) {
        if ((*callback)(*it1, *it2, min_dist)) return;
      }
    }
  }
}
 
//==============================================================================
void NaiveCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
                                    CollisionCallBackBase* callback) const {
  callback->init();
  NaiveCollisionManager* other_manager =
      static_cast<NaiveCollisionManager*>(other_manager_);
 
  if ((size() == 0) || (other_manager->size() == 0)) return;
 
  if (this == other_manager) {
    collide(callback);
    return;
  }
 
  for (auto* obj1 : objs) {
    for (auto* obj2 : other_manager->objs) {
      if (obj1->getAABB().overlap(obj2->getAABB())) {
        if ((*callback)(obj1, obj2)) return;
      }
    }
  }
}
 
//==============================================================================
void NaiveCollisionManager::distance(BroadPhaseCollisionManager* other_manager_,
                                     DistanceCallBackBase* callback) const {
  callback->init();
  NaiveCollisionManager* other_manager =
      static_cast<NaiveCollisionManager*>(other_manager_);
 
  if ((size() == 0) || (other_manager->size() == 0)) return;
 
  if (this == other_manager) {
    distance(callback);
    return;
  }
 
  FCL_REAL min_dist = (std::numeric_limits<FCL_REAL>::max)();
  for (auto* obj1 : objs) {
    for (auto* obj2 : other_manager->objs) {
      if (obj1->getAABB().distance(obj2->getAABB()) < min_dist) {
        if ((*callback)(obj1, obj2, min_dist)) return;
      }
    }
  }
}
 
//==============================================================================
bool NaiveCollisionManager::empty() const { return objs.empty(); }
 
//==============================================================================
size_t NaiveCollisionManager::size() const { return objs.size(); }
 
}  // namespace fcl
}  // namespace hpp