broadphase_bruteforce.h

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#ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
#define FCL_BROAD_PHASE_BRUTE_FORCE_H

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

namespace fcl
{

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

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

  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:

  std::list<CollisionObject<S>*> objs;
};

using NaiveCollisionManagerf = NaiveCollisionManager<float>;
using NaiveCollisionManagerd = NaiveCollisionManager<double>;

} // namespace fcl

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

#endif