broadphase_continuous_collision_manager.h

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#ifndef FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#define FCL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H

#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/narrowphase/collision_object.h"
#include "fcl/narrowphase/continuous_collision_object.h"

namespace fcl
{

template <typename S>
using ContinuousCollisionCallBack = bool (*)(
    ContinuousCollisionObject<S>* o1,
    ContinuousCollisionObject<S>* o2, void* cdata);

template <typename S>
using ContinuousDistanceCallBack = bool (*)(
    ContinuousCollisionObject<S>* o1,
    ContinuousCollisionObject<S>* o2, void* cdata, S& dist);

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

  virtual ~BroadPhaseContinuousCollisionManager();

  virtual void registerObjects(const std::vector<ContinuousCollisionObject<S>*>& other_objs);

  virtual void registerObject(ContinuousCollisionObject<S>* obj) = 0;

  virtual void unregisterObject(ContinuousCollisionObject<S>* obj) = 0;

  virtual void setup() = 0;

  virtual void update() = 0;

  virtual void update(ContinuousCollisionObject<S>* updated_obj);

  virtual void update(const std::vector<ContinuousCollisionObject<S>*>& updated_objs);

  virtual void clear() = 0;

  virtual void getObjects(std::vector<ContinuousCollisionObject<S>*>& objs) const = 0;

  virtual void collide(ContinuousCollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const = 0;

  virtual void distance(ContinuousCollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const = 0;

  virtual void collide(void* cdata, CollisionCallBack<S> callback) const = 0;

  virtual void distance(void* cdata, DistanceCallBack<S> callback) const = 0;

  virtual void collide(BroadPhaseContinuousCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const = 0;

  virtual void distance(BroadPhaseContinuousCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const = 0;

  virtual bool empty() const = 0;
  
  virtual size_t size() const = 0;
};

using BroadPhaseContinuousCollisionManagerf = BroadPhaseContinuousCollisionManager<float>;
using BroadPhaseContinuousCollisionManagerd = BroadPhaseContinuousCollisionManager<double>;

} // namespace fcl

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

#endif