FCL  0.6.0
Flexible Collision Library
broadphase_dynamic_AABB_tree_array.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
39 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
40 
41 #include <unordered_map>
42 #include <functional>
43 #include <limits>
44 
45 #include "fcl/math/bv/utility.h"
46 #include "fcl/geometry/shape/box.h"
47 #include "fcl/geometry/shape/utility.h"
48 #include "fcl/broadphase/broadphase_collision_manager.h"
49 #include "fcl/broadphase/detail/hierarchy_tree_array.h"
50 
51 namespace fcl
52 {
53 
54 template <typename S>
56 {
57 public:
58 
60  using DynamicAABBTable = std::unordered_map<CollisionObject<S>*, size_t>;
61 
62  int max_tree_nonbalanced_level;
63  int tree_incremental_balance_pass;
64  int& tree_topdown_balance_threshold;
65  int& tree_topdown_level;
66  int tree_init_level;
67 
68  bool octree_as_geometry_collide;
69  bool octree_as_geometry_distance;
70 
72 
74  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
75 
78 
81 
83  void setup();
84 
86  void update();
87 
89  void update(CollisionObject<S>* updated_obj);
90 
92  void update(const std::vector<CollisionObject<S>*>& updated_objs);
93 
95  void clear();
96 
98  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
99 
101  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
102 
104  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
105 
107  void collide(void* cdata, CollisionCallBack<S> callback) const;
108 
110  void distance(void* cdata, DistanceCallBack<S> callback) const;
111 
113  void collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const;
114 
116  void distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const;
117 
119  bool empty() const;
120 
122  size_t size() const;
123 
125 
126 private:
128  std::unordered_map<CollisionObject<S>*, size_t> table;
129 
130  bool setup_;
131 
132  void update_(CollisionObject<S>* updated_obj);
133 };
134 
137 
138 } // namespace fcl
139 
140 #include "fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h"
141 
142 #endif
Class for hierarchy tree structure.
Definition: hierarchy_tree_array.h:61
void getObjects(std::vector< CollisionObject< S > * > &objs) const
return the objects managed by the manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:868
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
void registerObject(CollisionObject< S > *obj)
add one object to the manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:770
void clear()
clear the manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:860
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now. ...
Definition: broadphase_collision_manager.h:53
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata, S &dist) DistanceCallBack
Callback for distance between two objects, Return value is whether can stop now, also return the mini...
Definition: broadphase_collision_manager.h:60
void unregisterObject(CollisionObject< S > *obj)
remove one object from the manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:778
Definition: broadphase_dynamic_AABB_tree_array.h:55
void distance(CollisionObject< S > *obj, void *cdata, DistanceCallBack< S > callback) const
perform distance computation between one object and all the objects belonging to the manager ...
Definition: broadphase_dynamic_AABB_tree_array-inl.h:901
size_t size() const
the number of objects managed by the manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:970
Definition: node_base_array.h:53
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:51
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66
void collide(CollisionObject< S > *obj, void *cdata, CollisionCallBack< S > callback) const
perform collision test between one object and all the objects belonging to the manager ...
Definition: broadphase_dynamic_AABB_tree_array-inl.h:876
void registerObjects(const std::vector< CollisionObject< S > * > &other_objs)
add objects to the manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:738
bool empty() const
whether the manager is empty
Definition: broadphase_dynamic_AABB_tree_array-inl.h:963
void update()
update the condition of manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:812
void setup()
initialize the manager, related with the specific type of manager
Definition: broadphase_dynamic_AABB_tree_array-inl.h:787