FCL  0.6.0
Flexible Collision Library
broadphase_dynamic_AABB_tree.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_H
39 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
40 
41 #include <unordered_map>
42 #include <functional>
43 
44 #include "fcl/math/bv/utility.h"
45 #include "fcl/geometry/shape/box.h"
46 #include "fcl/geometry/shape/utility.h"
47 #include "fcl/broadphase/broadphase_collision_manager.h"
48 #include "fcl/broadphase/detail/hierarchy_tree.h"
49 
50 namespace fcl
51 {
52 
53 template <typename S>
55 {
56 public:
57 
59  using DynamicAABBTable = std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> ;
60 
61  int max_tree_nonbalanced_level;
62  int tree_incremental_balance_pass;
63  int& tree_topdown_balance_threshold;
64  int& tree_topdown_level;
65  int tree_init_level;
66 
67  bool octree_as_geometry_collide;
68  bool octree_as_geometry_distance;
69 
71 
73  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
74 
77 
80 
82  void setup();
83 
85  void update();
86 
88  void update(CollisionObject<S>* updated_obj);
89 
91  void update(const std::vector<CollisionObject<S>*>& updated_objs);
92 
94  void clear();
95 
97  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
98 
100  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
101 
103  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
104 
106  void collide(void* cdata, CollisionCallBack<S> callback) const;
107 
109  void distance(void* cdata, DistanceCallBack<S> callback) const;
110 
112  void collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const;
113 
115  void distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const;
116 
118  bool empty() const;
119 
121  size_t size() const;
122 
123  const detail::HierarchyTree<AABB<S>>& getTree() const;
124 
125 private:
127  std::unordered_map<CollisionObject<S>*, DynamicAABBNode*> table;
128 
129  bool setup_;
130 
131  void update_(CollisionObject<S>* updated_obj);
132 };
133 
136 
137 } // namespace fcl
138 
139 #include "fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h"
140 
141 #endif
dynamic AABB<S> tree node
Definition: node_base.h:51
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
void unregisterObject(CollisionObject< S > *obj)
remove one object from the manager
Definition: broadphase_dynamic_AABB_tree-inl.h:774
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-inl.h:897
size_t size() const
the number of objects managed by the manager
Definition: broadphase_dynamic_AABB_tree-inl.h:966
void update()
update the condition of manager
Definition: broadphase_dynamic_AABB_tree-inl.h:808
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-inl.h:872
void clear()
clear the manager
Definition: broadphase_dynamic_AABB_tree-inl.h:856
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 getObjects(std::vector< CollisionObject< S > * > &objs) const
return the objects managed by the manager
Definition: broadphase_dynamic_AABB_tree-inl.h:864
Class for hierarchy tree structure.
Definition: hierarchy_tree.h:58
void registerObject(CollisionObject< S > *obj)
add one object to the manager
Definition: broadphase_dynamic_AABB_tree-inl.h:766
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:51
bool empty() const
whether the manager is empty
Definition: broadphase_dynamic_AABB_tree-inl.h:959
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66
Definition: broadphase_dynamic_AABB_tree.h:54
void registerObjects(const std::vector< CollisionObject< S > * > &other_objs)
add objects to the manager
Definition: broadphase_dynamic_AABB_tree-inl.h:734
void setup()
initialize the manager, related with the specific type of manager
Definition: broadphase_dynamic_AABB_tree-inl.h:783