/usr/include/fcl/broadphase/broadphase_SaP.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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*/
/** \author Jia Pan */
#ifndef FCL_BROAD_PHASE_SAP_H
#define FCL_BROAD_PHASE_SAP_H
#include "fcl/broadphase/broadphase.h"
#include <map>
#include <list>
namespace fcl
{
/// @brief Rigorous SAP collision manager
class SaPCollisionManager : public BroadPhaseCollisionManager
{
public:
SaPCollisionManager()
{
elist[0] = NULL;
elist[1] = NULL;
elist[2] = NULL;
optimal_axis = 0;
}
~SaPCollisionManager()
{
clear();
}
/// @brief add objects to the manager
void registerObjects(const std::vector<CollisionObject*>& other_objs);
/// @brief remove one object from the manager
void registerObject(CollisionObject* obj);
/// @brief add one object to the manager
void unregisterObject(CollisionObject* obj);
/// @brief initialize the manager, related with the specific type of manager
void setup();
/// @brief update the condition of manager
void update();
/// @brief update the manager by explicitly given the object updated
void update(CollisionObject* updated_obj);
/// @brief update the manager by explicitly given the set of objects update
void update(const std::vector<CollisionObject*>& updated_objs);
/// @brief clear the manager
void clear();
/// @brief return the objects managed by the manager
void getObjects(std::vector<CollisionObject*>& objs) const;
/// @brief perform collision test between one object and all the objects belonging to the manager
void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
/// @brief perform distance computation between one object and all the objects belonging to the manager
void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const;
/// @brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void collide(void* cdata, CollisionCallBack callback) const;
/// @brief perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void distance(void* cdata, DistanceCallBack callback) const;
/// @brief perform collision test with objects belonging to another manager
void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const;
/// @brief perform distance test with objects belonging to another manager
void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const;
/// @brief whether the manager is empty
bool empty() const;
/// @brief the number of objects managed by the manager
inline size_t size() const { return AABB_arr.size(); }
protected:
struct EndPoint;
/// @brief SAP interval for one object
struct SaPAABB
{
/// @brief object
CollisionObject* obj;
/// @brief lower bound end point of the interval
EndPoint* lo;
/// @brief higher bound end point of the interval
EndPoint* hi;
/// @brief cached AABB value
AABB cached;
};
/// @brief End point for an interval
struct EndPoint
{
/// @brief tag for whether it is a lower bound or higher bound of an interval, 0 for lo, and 1 for hi
char minmax;
/// @brief back pointer to SAP interval
SaPAABB* aabb;
/// @brief the previous end point in the end point list
EndPoint* prev[3];
/// @brief the next end point in the end point list
EndPoint* next[3];
/// @brief get the value of the end point
inline const Vec3f& getVal() const
{
if(minmax) return aabb->cached.max_;
else return aabb->cached.min_;
}
/// @brief set the value of the end point
inline Vec3f& getVal()
{
if(minmax) return aabb->cached.max_;
else return aabb->cached.min_;
}
inline Vec3f::U getVal(size_t i) const
{
if(minmax) return aabb->cached.max_[i];
else return aabb->cached.min_[i];
}
inline Vec3f::U& getVal(size_t i)
{
if(minmax) return aabb->cached.max_[i];
else return aabb->cached.min_[i];
}
};
/// @brief A pair of objects that are not culling away and should further check collision
struct SaPPair
{
SaPPair(CollisionObject* a, CollisionObject* b)
{
if(a < b)
{
obj1 = a;
obj2 = b;
}
else
{
obj1 = b;
obj2 = a;
}
}
CollisionObject* obj1;
CollisionObject* obj2;
bool operator == (const SaPPair& other) const
{
return ((obj1 == other.obj1) && (obj2 == other.obj2));
}
};
/// @brief Functor to help unregister one object
class isUnregistered
{
CollisionObject* obj;
public:
isUnregistered(CollisionObject* obj_) : obj(obj_)
{}
bool operator() (const SaPPair& pair) const
{
return (pair.obj1 == obj) || (pair.obj2 == obj);
}
};
/// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
class isNotValidPair
{
CollisionObject* obj1;
CollisionObject* obj2;
public:
isNotValidPair(CollisionObject* obj1_, CollisionObject* obj2_) : obj1(obj1_),
obj2(obj2_)
{}
bool operator() (const SaPPair& pair)
{
return (pair.obj1 == obj1) && (pair.obj2 == obj2);
}
};
void update_(SaPAABB* updated_aabb);
void updateVelist()
{
for(int coord = 0; coord < 3; ++coord)
{
velist[coord].resize(size() * 2);
EndPoint* current = elist[coord];
size_t id = 0;
while(current)
{
velist[coord][id] = current;
current = current->next[coord];
id++;
}
}
}
/// @brief End point list for x, y, z coordinates
EndPoint* elist[3];
/// @brief vector version of elist, for acceleration
std::vector<EndPoint*> velist[3];
/// @brief SAP interval list
std::list<SaPAABB*> AABB_arr;
/// @brief The pair of objects that should further check for collision
std::list<SaPPair> overlap_pairs;
size_t optimal_axis;
std::map<CollisionObject*, SaPAABB*> obj_aabb_map;
bool distance_(CollisionObject* obj, void* cdata, DistanceCallBack callback, FCL_REAL& min_dist) const;
bool collide_(CollisionObject* obj, void* cdata, CollisionCallBack callback) const;
void addToOverlapPairs(const SaPPair& p)
{
bool repeated = false;
for(std::list<SaPPair>::iterator it = overlap_pairs.begin(), end = overlap_pairs.end();
it != end;
++it)
{
if(*it == p)
{
repeated = true;
break;
}
}
if(!repeated)
overlap_pairs.push_back(p);
}
void removeFromOverlapPairs(const SaPPair& p)
{
for(std::list<SaPPair>::iterator it = overlap_pairs.begin(), end = overlap_pairs.end();
it != end;
++it)
{
if(*it == p)
{
overlap_pairs.erase(it);
break;
}
}
// or overlap_pairs.remove_if(isNotValidPair(p));
}
};
}
#endif
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