/usr/include/fcl/broadphase/broadphase_SSaP.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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* * Redistributions of source code must retain the above copyright
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* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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/** \author Jia Pan */
#ifndef FCL_BROAD_PHASE_SSAP_H
#define FCL_BROAD_PHASE_SSAP_H
#include "fcl/broadphase/broadphase.h"
namespace fcl
{
/// @brief Simple SAP collision manager
class SSaPCollisionManager : public BroadPhaseCollisionManager
{
public:
SSaPCollisionManager() : setup_(false)
{}
/// @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 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 objs_x.size(); }
protected:
/// @brief check collision between one object and a list of objects, return value is whether stop is possible
bool checkColl(std::vector<CollisionObject*>::const_iterator pos_start, std::vector<CollisionObject*>::const_iterator pos_end,
CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
/// @brief check distance between one object and a list of objects, return value is whether stop is possible
bool checkDis(std::vector<CollisionObject*>::const_iterator pos_start, std::vector<CollisionObject*>::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;
static inline size_t selectOptimalAxis(const std::vector<CollisionObject*>& objs_x, const std::vector<CollisionObject*>& objs_y, const std::vector<CollisionObject*>& objs_z, std::vector<CollisionObject*>::const_iterator& it_beg, std::vector<CollisionObject*>::const_iterator& it_end)
{
/// simple sweep and prune method
double delta_x = (objs_x[objs_x.size() - 1])->getAABB().min_[0] - (objs_x[0])->getAABB().min_[0];
double delta_y = (objs_x[objs_y.size() - 1])->getAABB().min_[1] - (objs_y[0])->getAABB().min_[1];
double delta_z = (objs_z[objs_z.size() - 1])->getAABB().min_[2] - (objs_z[0])->getAABB().min_[2];
int axis = 0;
if(delta_y > delta_x && delta_y > delta_z)
axis = 1;
else if(delta_z > delta_y && delta_z > delta_x)
axis = 2;
switch(axis)
{
case 0:
it_beg = objs_x.begin();
it_end = objs_x.end();
break;
case 1:
it_beg = objs_y.begin();
it_end = objs_y.end();
break;
case 2:
it_beg = objs_z.begin();
it_end = objs_z.end();
break;
}
return axis;
}
/// @brief Objects sorted according to lower x value
std::vector<CollisionObject*> objs_x;
/// @brief Objects sorted according to lower y value
std::vector<CollisionObject*> objs_y;
/// @brief Objects sorted according to lower z value
std::vector<CollisionObject*> objs_z;
/// @brief tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly
bool setup_;
};
}
#endif
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