broadphase_SaP.h

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#ifndef FCL_BROAD_PHASE_SAP_H
#define FCL_BROAD_PHASE_SAP_H

#include <map>
#include <list>

#include "fcl/broadphase/broadphase_collision_manager.h"

namespace fcl
{

template <typename S>
class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
{
public:

  SaPCollisionManager();

  ~SaPCollisionManager();

  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;

protected:

  struct SaPAABB;

  struct EndPoint;

  struct SaPPair;

  class FCL_EXPORT isUnregistered;

  class FCL_EXPORT isNotValidPair;

  void update_(SaPAABB* updated_aabb);

  void updateVelist();

  EndPoint* elist[3];
  
  std::vector<EndPoint*> velist[3];

  std::list<SaPAABB*> AABB_arr;

  std::list<SaPPair> overlap_pairs;

  size_t optimal_axis;

  std::map<CollisionObject<S>*, SaPAABB*> obj_aabb_map;

  bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;

  bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;

  void addToOverlapPairs(const SaPPair& p);

  void removeFromOverlapPairs(const SaPPair& p);
};

using SaPCollisionManagerf = SaPCollisionManager<float>;
using SaPCollisionManagerd = SaPCollisionManager<double>;

template <typename S>
struct SaPCollisionManager<S>::SaPAABB
{
  CollisionObject<S>* obj;

  typename SaPCollisionManager<S>::EndPoint* lo;

  typename SaPCollisionManager<S>::EndPoint* hi;

  AABB<S> cached;
};

template <typename S>
struct SaPCollisionManager<S>::EndPoint
{
  char minmax;

  typename SaPCollisionManager<S>::SaPAABB* aabb;

  EndPoint* prev[3];

  EndPoint* next[3];

  const Vector3<S>& getVal() const;

  Vector3<S>& getVal();

  S getVal(size_t i) const;

  S& getVal(size_t i);

};

template <typename S>
struct SaPCollisionManager<S>::SaPPair
{
  SaPPair(CollisionObject<S>* a, CollisionObject<S>* b);

  CollisionObject<S>* obj1;
  CollisionObject<S>* obj2;

  bool operator == (const SaPPair& other) const;
};

template <typename S>
class FCL_EXPORT SaPCollisionManager<S>::isUnregistered
{
  CollisionObject<S>* obj;

public:
  isUnregistered(CollisionObject<S>* obj_);

  bool operator() (const SaPPair& pair) const;
};

template <typename S>
class FCL_EXPORT SaPCollisionManager<S>::isNotValidPair
{
  CollisionObject<S>* obj1;
  CollisionObject<S>* obj2;

public:
  isNotValidPair(CollisionObject<S>* obj1_, CollisionObject<S>* obj2_);

  bool operator() (const SaPPair& pair);
};

} // namespace fcl

#include "fcl/broadphase/broadphase_SaP-inl.h"

#endif