broadphase_SaP.h

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#ifndef COAL_BROAD_PHASE_SAP_H
#define COAL_BROAD_PHASE_SAP_H

#include <map>
#include <list>

#include "coal/broadphase/broadphase_collision_manager.h"

namespace coal {

class COAL_DLLAPI SaPCollisionManager : public BroadPhaseCollisionManager {
 public:
 typedef BroadPhaseCollisionManager Base;
 using Base::getObjects;

 SaPCollisionManager();

 ~SaPCollisionManager();

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

 void registerObject(CollisionObject* obj);

 void unregisterObject(CollisionObject* obj);

 void setup();

 virtual void update();

 void update(CollisionObject* updated_obj);

 void update(const std::vector<CollisionObject*>& updated_objs);

 void clear();

 void getObjects(std::vector<CollisionObject*>& objs) const;

 void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;

 void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;

 void collide(CollisionCallBackBase* callback) const;

 void distance(DistanceCallBackBase* callback) const;

 void collide(BroadPhaseCollisionManager* other_manager,
 CollisionCallBackBase* callback) const;

 void distance(BroadPhaseCollisionManager* other_manager,
 DistanceCallBackBase* callback) const;

 bool empty() const;

 size_t size() const;

 protected:
 struct EndPoint;

 struct SaPAABB {
 CollisionObject* obj;

 EndPoint* lo;

 EndPoint* hi;

 AABB cached;
 };

 struct EndPoint {
 char minmax;

 SaPAABB* aabb;

 EndPoint* prev[3];

 EndPoint* next[3];

 const Vec3s& getVal() const;

 Vec3s& getVal();

 CoalScalar getVal(int i) const;

 CoalScalar& getVal(int i);
 };

 struct SaPPair {
 SaPPair(CollisionObject* a, CollisionObject* b);

 CollisionObject* obj1;
 CollisionObject* obj2;

 bool operator==(const SaPPair& other) const;
 };

 class COAL_DLLAPI isUnregistered {
 CollisionObject* obj;

 public:
 isUnregistered(CollisionObject* obj_);

 bool operator()(const SaPPair& pair) const;
 };

 class COAL_DLLAPI isNotValidPair {
 CollisionObject* obj1;
 CollisionObject* obj2;

 public:
 isNotValidPair(CollisionObject* obj1_, CollisionObject* obj2_);

 bool operator()(const SaPPair& pair);
 };

 void update_(SaPAABB* updated_aabb);

 void updateVelist();

 EndPoint* elist[3];

 std::vector<EndPoint*> velist[3];

 std::list<SaPAABB*> AABB_arr;

 std::list<SaPPair> overlap_pairs;

 int optimal_axis;

 std::map<CollisionObject*, SaPAABB*> obj_aabb_map;

 bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
 CoalScalar& min_dist) const;

 bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;

 void addToOverlapPairs(const SaPPair& p);

 void removeFromOverlapPairs(const SaPPair& p);
};

} // namespace coal

#endif