broadphase_spatialhash.h

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#ifndef FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
#define FCL_BROADPHASE_BROADPAHSESPATIALHASH_H

#include <list>
#include <map>
#include "fcl/math/bv/AABB.h"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/simple_hash_table.h"
#include "fcl/broadphase/detail/sparse_hash_table.h"
#include "fcl/broadphase/detail/spatial_hash.h"

namespace fcl
{

template<typename S,
         typename HashTable
             = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >
class SpatialHashingCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
  SpatialHashingCollisionManager(
      S cell_size,
      const Vector3<S>& scene_min,
      const Vector3<S>& scene_max,
      unsigned int default_table_size = 1000);

  ~SpatialHashingCollisionManager();

  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;

  static void computeBound(std::vector<CollisionObject<S>*>& objs, Vector3<S>& l, Vector3<S>& u);

protected:

  bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;

  bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;

  std::list<CollisionObject<S>*> objs;

  std::list<CollisionObject<S>*> objs_partially_penetrating_scene_limit;

  std::list<CollisionObject<S>*> objs_outside_scene_limit;

  AABB<S> scene_limit;

  std::map<CollisionObject<S>*, AABB<S>> obj_aabb_map;

  HashTable* hash_table;

private:

  enum ObjectStatus
  {
    Inside,
    PartiallyPenetrating,
    Outside
  };

  template <typename Container>
  bool distanceObjectToObjects(
      CollisionObject<S>* obj,
      const Container& objs,
      void* cdata,
      DistanceCallBack<S> callback,
      S& min_dist) const;

};

template<typename HashTable = detail::SimpleHashTable<AABB<float>, CollisionObject<float>*, detail::SpatialHash<float>>>
using SpatialHashingCollisionManagerf = SpatialHashingCollisionManager<float, HashTable>;

template<typename HashTable = detail::SimpleHashTable<AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>
using SpatialHashingCollisionManagerd = SpatialHashingCollisionManager<double, HashTable>;

} // namespace fcl

#include "fcl/broadphase/broadphase_spatialhash-inl.h"

#endif