/usr/include/fcl/broadphase/broadphase.h is in libfcl-dev 0.3.0-1+b1.
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/** \author Jia Pan */
#ifndef FCL_BROAD_PHASE_H
#define FCL_BROAD_PHASE_H
#include "fcl/collision_object.h"
#include <set>
#include <vector>
namespace fcl
{
/// @brief Callback for collision between two objects. Return value is whether can stop now.
typedef bool (*CollisionCallBack)(CollisionObject* o1, CollisionObject* o2, void* cdata);
/// @brief Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now.
typedef bool (*DistanceCallBack)(CollisionObject* o1, CollisionObject* o2, void* cdata, FCL_REAL& dist);
/// @brief Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.
class BroadPhaseCollisionManager
{
public:
BroadPhaseCollisionManager() : enable_tested_set_(false)
{
}
virtual ~BroadPhaseCollisionManager() {}
/// @brief add objects to the manager
virtual void registerObjects(const std::vector<CollisionObject*>& other_objs)
{
for(size_t i = 0; i < other_objs.size(); ++i)
registerObject(other_objs[i]);
}
/// @brief add one object to the manager
virtual void registerObject(CollisionObject* obj) = 0;
/// @brief remove one object from the manager
virtual void unregisterObject(CollisionObject* obj) = 0;
/// @brief initialize the manager, related with the specific type of manager
virtual void setup() = 0;
/// @brief update the condition of manager
virtual void update() = 0;
/// @brief update the manager by explicitly given the object updated
virtual void update(CollisionObject* updated_obj)
{
update();
}
/// @brief update the manager by explicitly given the set of objects update
virtual void update(const std::vector<CollisionObject*>& updated_objs)
{
update();
}
/// @brief clear the manager
virtual void clear() = 0;
/// @brief return the objects managed by the manager
virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;
/// @brief perform collision test between one object and all the objects belonging to the manager
virtual void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const = 0;
/// @brief perform distance computation between one object and all the objects belonging to the manager
virtual void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const = 0;
/// @brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
virtual void collide(void* cdata, CollisionCallBack callback) const = 0;
/// @brief perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
virtual void distance(void* cdata, DistanceCallBack callback) const = 0;
/// @brief perform collision test with objects belonging to another manager
virtual void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const = 0;
/// @brief perform distance test with objects belonging to another manager
virtual void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const = 0;
/// @brief whether the manager is empty
virtual bool empty() const = 0;
/// @brief the number of objects managed by the manager
virtual size_t size() const = 0;
protected:
/// @brief tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms.
mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
mutable bool enable_tested_set_;
bool inTestedSet(CollisionObject* a, CollisionObject* b) const
{
if(a < b) return tested_set.find(std::make_pair(a, b)) != tested_set.end();
else return tested_set.find(std::make_pair(b, a)) != tested_set.end();
}
void insertTestedSet(CollisionObject* a, CollisionObject* b) const
{
if(a < b) tested_set.insert(std::make_pair(a, b));
else tested_set.insert(std::make_pair(b, a));
}
};
/// @brief Callback for continuous collision between two objects. Return value is whether can stop now.
typedef bool (*ContinuousCollisionCallBack)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, void* cdata);
/// @brief Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now.
typedef bool (*ContinuousDistanceCallBack)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, void* cdata, FCL_REAL& dist);
/// @brief Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.
class BroadPhaseContinuousCollisionManager
{
public:
BroadPhaseContinuousCollisionManager()
{
}
virtual ~BroadPhaseContinuousCollisionManager() {}
/// @brief add objects to the manager
virtual void registerObjects(const std::vector<ContinuousCollisionObject*>& other_objs)
{
for(size_t i = 0; i < other_objs.size(); ++i)
registerObject(other_objs[i]);
}
/// @brief add one object to the manager
virtual void registerObject(ContinuousCollisionObject* obj) = 0;
/// @brief remove one object from the manager
virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;
/// @brief initialize the manager, related with the specific type of manager
virtual void setup() = 0;
/// @brief update the condition of manager
virtual void update() = 0;
/// @brief update the manager by explicitly given the object updated
virtual void update(ContinuousCollisionObject* updated_obj)
{
update();
}
/// @brief update the manager by explicitly given the set of objects update
virtual void update(const std::vector<ContinuousCollisionObject*>& updated_objs)
{
update();
}
/// @brief clear the manager
virtual void clear() = 0;
/// @brief return the objects managed by the manager
virtual void getObjects(std::vector<ContinuousCollisionObject*>& objs) const = 0;
/// @brief perform collision test between one object and all the objects belonging to the manager
virtual void collide(ContinuousCollisionObject* obj, void* cdata, CollisionCallBack callback) const = 0;
/// @brief perform distance computation between one object and all the objects belonging to the manager
virtual void distance(ContinuousCollisionObject* obj, void* cdata, DistanceCallBack callback) const = 0;
/// @brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
virtual void collide(void* cdata, CollisionCallBack callback) const = 0;
/// @brief perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
virtual void distance(void* cdata, DistanceCallBack callback) const = 0;
/// @brief perform collision test with objects belonging to another manager
virtual void collide(BroadPhaseContinuousCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const = 0;
/// @brief perform distance test with objects belonging to another manager
virtual void distance(BroadPhaseContinuousCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const = 0;
/// @brief whether the manager is empty
virtual bool empty() const = 0;
/// @brief the number of objects managed by the manager
virtual size_t size() const = 0;
};
}
#include "fcl/broadphase/broadphase_bruteforce.h"
#include "fcl/broadphase/broadphase_spatialhash.h"
#include "fcl/broadphase/broadphase_SaP.h"
#include "fcl/broadphase/broadphase_SSaP.h"
#include "fcl/broadphase/broadphase_interval_tree.h"
#include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
#endif
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