broadphase_interval_tree.h

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#ifndef FCL_BROAD_PHASE_INTERVAL_TREE_H
#define FCL_BROAD_PHASE_INTERVAL_TREE_H

#include <deque>
#include <map>
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/interval_tree.h"

namespace fcl
{

template <typename S>
class IntervalTreeCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
  IntervalTreeCollisionManager();

  ~IntervalTreeCollisionManager();

  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;

protected:

  struct EndPoint;

  struct SAPInterval;

  bool checkColl(
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_end,
      CollisionObject<S>* obj,
      void* cdata,
      CollisionCallBack<S> callback) const;

  bool checkDist(
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_start,
      typename std::deque<detail::SimpleInterval<S>*>::const_iterator pos_end,
      CollisionObject<S>* obj,
      void* cdata,
      DistanceCallBack<S> callback,
      S& min_dist) const;

  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::vector<EndPoint> endpoints[3];

  detail::IntervalTree<S>* interval_trees[3];

  std::map<CollisionObject<S>*, SAPInterval*> obj_interval_maps[3];

  bool setup_;
};

using IntervalTreeCollisionManagerf = IntervalTreeCollisionManager<float>;
using IntervalTreeCollisionManagerd = IntervalTreeCollisionManager<double>;

template <typename S>
struct IntervalTreeCollisionManager<S>::EndPoint
{
  CollisionObject<S>* obj;

  S value;

  char minmax;

  bool operator<(const EndPoint &p) const;
};

template <typename S>
struct IntervalTreeCollisionManager<S>::SAPInterval : public detail::SimpleInterval<S>
{
  CollisionObject<S>* obj;

  SAPInterval(S low_, S high_, CollisionObject<S>* obj_);
};

} // namespace fcl

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

#endif