broadphase_collision_manager.h

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#ifndef FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
#define FCL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H

#include <set>
#include <vector>

#include "fcl/narrowphase/collision_object.h"

namespace fcl
{

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

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

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

  virtual ~BroadPhaseCollisionManager();

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

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

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

  virtual void setup() = 0;

  virtual void update() = 0;

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

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

  virtual void clear() = 0;

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

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

  virtual void distance(CollisionObject<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(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack<S> callback) const = 0;

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

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

protected:

  mutable std::set<std::pair<CollisionObject<S>*, CollisionObject<S>*> > tested_set;
  mutable bool enable_tested_set_;

  bool inTestedSet(CollisionObject<S>* a, CollisionObject<S>* b) const;

  void insertTestedSet(CollisionObject<S>* a, CollisionObject<S>* b) const;

};

using BroadPhaseCollisionManagerf = BroadPhaseCollisionManager<float>;
using BroadPhaseCollisionManagerd = BroadPhaseCollisionManager<double>;

} // namespace fcl

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

#endif