fcl » include » fcl » broadphase
broadphase_bruteforce.h

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */ 
00034 
00037 #ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
00038 #define FCL_BROAD_PHASE_BRUTE_FORCE_H
00039 
00040 #include "fcl/broadphase/broadphase.h"
00041 #include <list>
00042 
00043 
00044 namespace fcl
00045 {
00046 
00048 class NaiveCollisionManager : public BroadPhaseCollisionManager
00049 {
00050 public:
00051   NaiveCollisionManager() {}
00052 
00054   void registerObjects(const std::vector<CollisionObject*>& other_objs);
00055 
00057   void registerObject(CollisionObject* obj);
00058 
00060   void unregisterObject(CollisionObject* obj);
00061 
00063   void setup();
00064 
00066   void update();
00067 
00069   void clear();
00070 
00072   void getObjects(std::vector<CollisionObject*>& objs) const;
00073 
00075   void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
00076 
00078   void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const;
00079 
00081   void collide(void* cdata, CollisionCallBack callback) const;
00082 
00084   void distance(void* cdata, DistanceCallBack callback) const;
00085 
00087   void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const;
00088 
00090   void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const;
00091 
00093   bool empty() const;
00094   
00096   inline size_t size() const { return objs.size(); }
00097 
00098 protected:
00099 
00101   std::list<CollisionObject*> objs;
00102 };
00103 
00104 
00105 }
00106 
00107 #endif