broadphase_dynamic_AABB_tree.h

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#ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
#define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
 
#include <unordered_map>
#include <functional>
 
#include "fcl/math/bv/utility.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/utility.h"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/hierarchy_tree.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT DynamicAABBTreeCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
 
  using DynamicAABBNode = detail::NodeBase<AABB<S>>;
  using DynamicAABBTable = std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> ;
 
  int max_tree_nonbalanced_level;
  int tree_incremental_balance_pass;
  int& tree_topdown_balance_threshold;
  int& tree_topdown_level;
  int tree_init_level;
 
  bool octree_as_geometry_collide;
  bool octree_as_geometry_distance;
 
  DynamicAABBTreeCollisionManager();
 
  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;
 
  const detail::HierarchyTree<AABB<S>>& getTree() const;
 
private:
  detail::HierarchyTree<AABB<S>> dtree;
  std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> table;
 
  bool setup_;
 
  void update_(CollisionObject<S>* updated_obj);
};
 
using DynamicAABBTreeCollisionManagerf = DynamicAABBTreeCollisionManager<float>;
using DynamicAABBTreeCollisionManagerd = DynamicAABBTreeCollisionManager<double>;
 
} // namespace fcl
 
#include "fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h"
 
#endif