/usr/include/fcl/broadphase/broadphase_interval_tree.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
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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_INTERVAL_TREE_H
#define FCL_BROAD_PHASE_INTERVAL_TREE_H
#include "fcl/broadphase/broadphase.h"
#include "fcl/broadphase/interval_tree.h"
#include <deque>
#include <map>
namespace fcl
{
/// @brief Collision manager based on interval tree
class IntervalTreeCollisionManager : public BroadPhaseCollisionManager
{
public:
IntervalTreeCollisionManager() : setup_(false)
{
for(int i = 0; i < 3; ++i)
interval_trees[i] = NULL;
}
~IntervalTreeCollisionManager()
{
clear();
}
/// @brief remove one object from the manager
void registerObject(CollisionObject* obj);
/// @brief add one object to 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();
/// @brief return the objects managed by the manager
void getObjects(std::vector<CollisionObject*>& objs) const;
/// @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;
/// @brief the number of objects managed by the manager
inline size_t size() const { return endpoints[0].size() / 2; }
protected:
/// @brief SAP end point
struct EndPoint
{
/// @brief object related with the end point
CollisionObject* obj;
/// @brief end point value
FCL_REAL value;
/// @brief tag for whether it is a lower bound or higher bound of an interval, 0 for lo, and 1 for hi
char minmax;
bool operator<(const EndPoint &p) const
{
return value < p.value;
}
};
/// @brief Extention interval tree's interval to SAP interval, adding more information
struct SAPInterval : public SimpleInterval
{
CollisionObject* obj;
SAPInterval(double low_, double high_, CollisionObject* obj_) : SimpleInterval()
{
low = low_;
high = high_;
obj = obj_;
}
};
bool checkColl(std::deque<SimpleInterval*>::const_iterator pos_start, std::deque<SimpleInterval*>::const_iterator pos_end, CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
bool checkDist(std::deque<SimpleInterval*>::const_iterator pos_start, std::deque<SimpleInterval*>::const_iterator pos_end, CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;
bool collide_(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
bool distance_(CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;
/// @brief vector stores all the end points
std::vector<EndPoint> endpoints[3];
/// @brief interval tree manages the intervals
IntervalTree* interval_trees[3];
std::map<CollisionObject*, SAPInterval*> obj_interval_maps[3];
/// @brief tag for whether the interval tree is maintained suitably
bool setup_;
};
}
#endif
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