/usr/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h is in libfcl-dev 0.5.0-5.
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** \author Jia Pan */
#ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
#define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
#include "fcl/broadphase/broadphase.h"
#include "fcl/broadphase/hierarchy_tree.h"
#include "fcl/BV/BV.h"
#include "fcl/shape/geometric_shapes_utility.h"
#include <unordered_map>
#include <functional>
#include <limits>
namespace fcl
{
class DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager
{
public:
typedef implementation_array::NodeBase<AABB> DynamicAABBNode;
typedef std::unordered_map<CollisionObject*, size_t> DynamicAABBTable;
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_Array() : tree_topdown_balance_threshold(dtree.bu_threshold),
tree_topdown_level(dtree.topdown_level)
{
max_tree_nonbalanced_level = 10;
tree_incremental_balance_pass = 10;
tree_topdown_balance_threshold = 2;
tree_topdown_level = 0;
tree_init_level = 0;
setup_ = false;
// from experiment, this is the optimal setting
octree_as_geometry_collide = true;
octree_as_geometry_distance = false;
}
/// @brief add objects to the manager
void registerObjects(const std::vector<CollisionObject*>& other_objs);
/// @brief add one object to the manager
void registerObject(CollisionObject* obj);
/// @brief remove one object from the manager
void unregisterObject(CollisionObject* obj);
/// @brief initialize the manager, related with the specific type of manager
void setup();
/// @brief update the condition of manager
void update();
/// @brief update the manager by explicitly given the object updated
void update(CollisionObject* updated_obj);
/// @brief update the manager by explicitly given the set of objects update
void update(const std::vector<CollisionObject*>& updated_objs);
/// @brief clear the manager
void clear()
{
dtree.clear();
table.clear();
}
/// @brief return the objects managed by the manager
void getObjects(std::vector<CollisionObject*>& objs) const
{
objs.resize(this->size());
std::transform(table.begin(), table.end(), objs.begin(), std::bind(&DynamicAABBTable::value_type::first, std::placeholders::_1));
}
/// @brief perform collision test between one object and all the objects belonging to the manager
void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
/// @brief perform distance computation between one object and all the objects belonging to the manager
void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const;
/// @brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void collide(void* cdata, CollisionCallBack callback) const;
/// @brief perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void distance(void* cdata, DistanceCallBack callback) const;
/// @brief perform collision test with objects belonging to another manager
void collide(BroadPhaseCollisionManager* other_manager_, void* cdata, CollisionCallBack callback) const;
/// @brief perform distance test with objects belonging to another manager
void distance(BroadPhaseCollisionManager* other_manager_, void* cdata, DistanceCallBack callback) const;
/// @brief whether the manager is empty
bool empty() const
{
return dtree.empty();
}
/// @brief the number of objects managed by the manager
size_t size() const
{
return dtree.size();
}
const implementation_array::HierarchyTree<AABB>& getTree() const { return dtree; }
private:
implementation_array::HierarchyTree<AABB> dtree;
std::unordered_map<CollisionObject*, size_t> table;
bool setup_;
void update_(CollisionObject* updated_obj);
};
}
#endif
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