CD_Scene.h

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#ifndef _CD_SCENE
#  define _CD_SCENE
 
#  pragma once
 
#  include <sch/CD/CD_Pair.h>
#  include <sch/S_Object/S_Object.h>
#  include <sch/sch_api.h>
#  include <vector>
 
namespace sch
{
class CD_Scene
{
public:
  SCH_API CD_Scene(void);
  SCH_API virtual ~CD_Scene(void);
 
  SCH_API int addObject(S_Object * O);
 
  SCH_API void withdrawObject(int a);
 
  SCH_API void ignorePair(int a, int b);
 
  SCH_API void considerPair(int a, int b);
 
  SCH_API CD_Pair * operator()(int a, int b) const
  {
    if(a != b)
    {
      return (b < a) ? pairs_[a][b] : pairs_[b][a];
    }
    else
      return NULL;
  }
 
  SCH_API int sceneProximityQuery();
 
  SCH_API S_Object * operator[](size_t i) const
  {
    return objects_[i];
  }
 
  SCH_API size_t size()
  {
    return objects_.size();
  }
 
  SCH_API Scalar getWitnessPoints(int a, int b, Point3 & p1, Point3 & p2)
  {
    if(a != b)
    {
      p1 = witness_[a][b];
      p2 = witness_[b][a];
      return distances_[a][b];
    }
    else
    {
      return 0;
    }
  }
 
protected:
  std::vector<S_Object *> objects_;
 
  std::vector<std::vector<CD_Pair *>> pairs_;
 
  std::vector<std::vector<Point3>> witness_;
 
  std::vector<std::vector<Scalar>> distances_;
};
} // namespace sch
#endif