broadphase_SSaP.h

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#ifndef FCL_BROAD_PHASE_SSAP_H
#define FCL_BROAD_PHASE_SSAP_H

#include <vector>
#include "fcl/broadphase/broadphase_collision_manager.h"

namespace fcl
{

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

  void registerObject(CollisionObject<S>* obj);

  void unregisterObject(CollisionObject<S>* obj);

  void setup();

  void update();

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

  static size_t selectOptimalAxis(
      const std::vector<CollisionObject<S>*>& objs_x,
      const std::vector<CollisionObject<S>*>& objs_y,
      const std::vector<CollisionObject<S>*>& objs_z,
      typename std::vector<CollisionObject<S>*>::const_iterator& it_beg,
      typename std::vector<CollisionObject<S>*>::const_iterator& it_end);

  std::vector<CollisionObject<S>*> objs_x;

  std::vector<CollisionObject<S>*> objs_y;

  std::vector<CollisionObject<S>*> objs_z;

  bool setup_;
};

using SSaPCollisionManagerf = SSaPCollisionManager<float>;
using SSaPCollisionManagerd = SSaPCollisionManager<double>;

} // namespace fcl

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

#endif