FCL  0.6.0
Flexible Collision Library
broadphase_bruteforce.h
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35 
38 #ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
39 #define FCL_BROAD_PHASE_BRUTE_FORCE_H
40 
41 #include <list>
42 #include "fcl/broadphase/broadphase_collision_manager.h"
43 
44 namespace fcl
45 {
46 
48 template <typename S>
50 {
51 public:
53 
55  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
56 
59 
62 
64  void setup();
65 
67  void update();
68 
70  void clear();
71 
73  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
74 
76  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
77 
79  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
80 
82  void collide(void* cdata, CollisionCallBack<S> callback) const;
83 
85  void distance(void* cdata, DistanceCallBack<S> callback) const;
86 
88  void collide(BroadPhaseCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const;
89 
91  void distance(BroadPhaseCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const;
92 
94  bool empty() const;
95 
97  size_t size() const;
98 
99 protected:
100 
102  std::list<CollisionObject<S>*> objs;
103 };
104 
107 
108 } // namespace fcl
109 
110 #include "fcl/broadphase/broadphase_bruteforce-inl.h"
111 
112 #endif
void registerObject(CollisionObject< S > *obj)
add one object to the manager
Definition: broadphase_bruteforce-inl.h:74
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
void getObjects(std::vector< CollisionObject< S > * > &objs) const
return the objects managed by the manager
Definition: broadphase_bruteforce-inl.h:102
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_bruteforce-inl.h:123
size_t size() const
the number of objects managed by the manager
Definition: broadphase_bruteforce-inl.h:244
void clear()
clear the manager
Definition: broadphase_bruteforce-inl.h:95
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 update()
update the condition of manager
Definition: broadphase_bruteforce-inl.h:88
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_bruteforce-inl.h:110
std::list< CollisionObject< S > * > objs
objects belonging to the manager are stored in a list structure
Definition: broadphase_bruteforce.h:102
void registerObjects(const std::vector< CollisionObject< S > * > &other_objs)
add objects to the manager
Definition: broadphase_bruteforce-inl.h:60
bool empty() const
whether the manager is empty
Definition: broadphase_bruteforce-inl.h:237
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:51
Brute force N-body collision manager.
Definition: broadphase_bruteforce.h:49
void unregisterObject(CollisionObject< S > *obj)
remove one object from the manager
Definition: broadphase_bruteforce-inl.h:67
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66
void setup()
initialize the manager, related with the specific type of manager
Definition: broadphase_bruteforce-inl.h:81