Scene.h

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//
// Copyright (c) 2009, Markus Rickert
// 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_SG_FCL_SCENE_H
#define RL_SG_FCL_SCENE_H
 
#include <unordered_map>
#include <fcl/collision.h>
#include <fcl/broadphase/broadphase.h>
 
#include "../DepthScene.h"
#include "../DistanceScene.h"
#include "../SimpleScene.h"
 
namespace rl
{
    namespace sg
    {
        namespace fcl
        {
            class Scene : public ::rl::sg::DepthScene, public ::rl::sg::DistanceScene, public ::rl::sg::SimpleScene
            {
            public:
                Scene();
                
                virtual ~Scene();
                
                void add(::rl::sg::Model* model);
                
                void addCollisionObject(::fcl::CollisionObject* collisionObject, Body* body);
                
                bool areColliding(::rl::sg::Body* first, ::rl::sg::Body* second);
                
                bool areColliding(::rl::sg::Model* first, ::rl::sg::Model* second);
                
                bool areColliding(::rl::sg::Shape* first, ::rl::sg::Shape* second);
                
                ::rl::sg::Model* create();
                
                ::rl::math::Real depth(::rl::sg::Shape* first, ::rl::sg::Shape* second, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                ::rl::math::Real distance(::rl::sg::Body* first, ::rl::sg::Body* second, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                ::rl::math::Real distance(::rl::sg::Model* first, ::rl::sg::Model* second, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                ::rl::math::Real distance(::rl::sg::Shape* first, ::rl::sg::Shape* second, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                ::rl::math::Real distance(::rl::sg::Shape* shape, const ::rl::math::Vector3& point, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                bool isColliding();
                
                void remove(::rl::sg::Model* model);
                
                void removeCollisionObject(::fcl::CollisionObject* collisionObject);
                
                ::fcl::DynamicAABBTreeCollisionManager manager;
                
            protected:
                
            private:
                struct CollisionData
                {
                    CollisionData(const ::std::unordered_map< ::fcl::CollisionObject*, Body*>& bodyForObj) :
                        bodyForObj(bodyForObj),
                        done(false),
                        request(),
                        result()
                    {
                    }
                    
                    const ::std::unordered_map< ::fcl::CollisionObject*, Body*>& bodyForObj;
                    
                    bool done;
                    
                    ::fcl::CollisionRequest request;
                    
                    ::fcl::CollisionResult result;
                };
                
                struct DistanceData
                {
                    DistanceData(const ::std::unordered_map< ::fcl::CollisionObject*, Body*>& bodyForObj) :
                        bodyForObj(bodyForObj),
                        done(false),
                        request(true),
                        result()
                    {
                    }
                    
                    const ::std::unordered_map< ::fcl::CollisionObject*, Body*>& bodyForObj;
                    
                    bool done;
                    
                    ::fcl::DistanceRequest request;
                    
                    ::fcl::DistanceResult result;
                };
                
                static bool defaultCollisionFunction(::fcl::CollisionObject* o1, ::fcl::CollisionObject* o2, void* data);
                
                static bool defaultDistanceFunction(::fcl::CollisionObject* o1, ::fcl::CollisionObject* o2, void* data, ::fcl::FCL_REAL& dist);
                
                ::std::unordered_map< ::fcl::CollisionObject*, Body*> bodyForObj;
            };
        }
    }
}
 
#endif // RL_SG_FCL_SCENE_H