fcl » include » fcl » broadphase
broadphase_SSaP.h

00001 /*
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00034 
00038 #ifndef FCL_BROAD_PHASE_SSAP_H
00039 #define FCL_BROAD_PHASE_SSAP_H
00040 
00041 #include "fcl/broadphase/broadphase.h"
00042 
00043 namespace fcl
00044 {
00045 
00047 class SSaPCollisionManager : public BroadPhaseCollisionManager
00048 {
00049 public:
00050   SSaPCollisionManager() : setup_(false)
00051   {}
00052 
00054   void registerObject(CollisionObject* obj);
00055 
00057   void unregisterObject(CollisionObject* obj);
00058 
00060   void setup();
00061 
00063   void update();
00064 
00066   void clear();
00067 
00069   void getObjects(std::vector<CollisionObject*>& objs) const;
00070 
00072   void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
00073 
00075   void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const;
00076 
00078   void collide(void* cdata, CollisionCallBack callback) const;
00079 
00081   void distance(void* cdata, DistanceCallBack callback) const;
00082 
00084   void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const;
00085 
00087   void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const;
00088 
00090   bool empty() const;
00091   
00093   inline size_t size() const { return objs_x.size(); }
00094 
00095 protected:
00097   bool checkColl(std::vector<CollisionObject*>::const_iterator pos_start, std::vector<CollisionObject*>::const_iterator pos_end,
00098                  CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
00099   
00101   bool checkDis(std::vector<CollisionObject*>::const_iterator pos_start, std::vector<CollisionObject*>::const_iterator pos_end,
00102                 CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;
00103 
00104   bool collide_(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
00105   
00106   bool distance_(CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;
00107 
00108   static inline size_t selectOptimalAxis(const std::vector<CollisionObject*>& objs_x, const std::vector<CollisionObject*>& objs_y, const std::vector<CollisionObject*>& objs_z, std::vector<CollisionObject*>::const_iterator& it_beg, std::vector<CollisionObject*>::const_iterator& it_end)
00109   {
00111     double delta_x = (objs_x[objs_x.size() - 1])->getAABB().min_[0] - (objs_x[0])->getAABB().min_[0];
00112     double delta_y = (objs_x[objs_y.size() - 1])->getAABB().min_[1] - (objs_y[0])->getAABB().min_[1];
00113     double delta_z = (objs_z[objs_z.size() - 1])->getAABB().min_[2] - (objs_z[0])->getAABB().min_[2];
00114 
00115     int axis = 0;
00116     if(delta_y > delta_x && delta_y > delta_z)
00117       axis = 1;
00118     else if(delta_z > delta_y && delta_z > delta_x)
00119       axis = 2;
00120 
00121     switch(axis)
00122     {
00123     case 0:
00124       it_beg = objs_x.begin();
00125       it_end = objs_x.end();
00126       break;
00127     case 1:
00128       it_beg = objs_y.begin();
00129       it_end = objs_y.end();
00130       break;
00131     case 2:
00132       it_beg = objs_z.begin();
00133       it_end = objs_z.end();
00134       break;
00135     }
00136 
00137     return axis;
00138   }
00139 
00140 
00142   std::vector<CollisionObject*> objs_x;
00143 
00145   std::vector<CollisionObject*> objs_y;
00146 
00148   std::vector<CollisionObject*> objs_z;
00149 
00151   bool setup_;
00152 };
00153 
00154 
00155 }
00156 
00157 #endif