broadphase_dynamic_AABB_tree.h

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#ifndef COAL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
#define COAL_BROAD_PHASE_DYNAMIC_AABB_TREE_H

#include <unordered_map>
#include <functional>

#include "coal/fwd.hh"
// #include "coal/BV/utility.h"
#include "coal/shape/geometric_shapes.h"
// #include "coal/geometry/shape/utility.h"
#include "coal/broadphase/broadphase_collision_manager.h"
#include "coal/broadphase/detail/hierarchy_tree.h"

namespace coal {

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

 using DynamicAABBNode = detail::NodeBase<AABB>;
 using DynamicAABBTable =
 std::unordered_map<CollisionObject*, DynamicAABBNode*>;

 int max_tree_nonbalanced_level;
 int tree_incremental_balance_pass;
 int* tree_topdown_balance_threshold{nullptr};
 int* tree_topdown_level{nullptr};
 int tree_init_level;

 bool octree_as_geometry_collide;
 bool octree_as_geometry_distance;

 DynamicAABBTreeCollisionManager();

 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;

 const detail::HierarchyTree<AABB>& getTree() const;

 detail::HierarchyTree<AABB>& getTree();

 private:
 detail::HierarchyTree<AABB> dtree{};
 std::unordered_map<CollisionObject*, DynamicAABBNode*> table;

 bool setup_;

 void update_(CollisionObject* updated_obj);
};

} // namespace coal

#include "coal/broadphase/broadphase_dynamic_AABB_tree-inl.h"

#endif