collision_checking: collision_checking: proximity.h Source File

00001 /*
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00034 
00038 #ifndef COLLISION_CHECKING_PROXIMITY_H
00039 #define COLLISION_CHECKING_PROXIMITY_H
00040 
00041 #include "collision_checking/distance_primitive.h"
00042 
00043 
00044 namespace collision_checking
00045 {
00046 
00048 template<typename BV>
00049 int distance(const BVHModel<BV>& model1, const BVHModel<BV>& model2, BVH_DistanceResult* res, BVHFrontList* front_list = NULL)
00050 {
00051   if(model1.build_state != BVH_BUILD_STATE_PROCESSED && model1.build_state != BVH_BUILD_STATE_UPDATED)
00052   {
00053     std::cerr << "BVH Error: Must finish BVH model construction before call distance()!" << std::endl;
00054     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00055   }
00056 
00057   {
00058     std::cerr << "BVH Error: Must finish BVH model construction before call distance()!" << std::endl;
00059     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00060   }
00061 
00062   // currently only support the mesh-mesh collision
00063   if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType()!= BVH_MODEL_TRIANGLES)
00064   {
00065     std::cerr << "BVH Error: Proximity query only supported between two triangle models." << std::endl;
00066     return BVH_ERR_UNSUPPORTED_FUNCTION;
00067   }
00068 
00069   std::cerr << "BVH Error: Proximity query does not support for most BVs." << std::endl;
00070 
00071   return BVH_ERR_UNSUPPORTED_FUNCTION;
00072 }
00073 
00074 
00075 
00076 
00077 
00081 int distance(const BVHModel<RSS>& model1, const Vec3f R1[3], const Vec3f& T1,
00082                   const BVHModel<RSS>& model2, const Vec3f R2[3], const Vec3f& T2, BVH_DistanceResult* res, BVHFrontList* front_list = NULL);
00083 
00084 }
00085 
00086 
00087 #endif