BV_node.h

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#ifndef FCL_BV_NODE_H
#define FCL_BV_NODE_H

#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"

#include "fcl/BV/BV.h"
#include <iostream>

namespace fcl
{

struct BVNodeBase
{
  int first_child;

  int first_primitive;

  int num_primitives;

  inline bool isLeaf() const { return first_child < 0; }

  inline int primitiveId() const { return -(first_child + 1); }

  inline int leftChild() const { return first_child; }

  inline int rightChild() const { return first_child + 1; }
};

template<typename BV>
struct BVNode : public BVNodeBase
{
  BV bv;

  bool overlap(const BVNode& other) const
  {
    return bv.overlap(other.bv);
  }

  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL, Vec3f* P2 = NULL) const
  {
    return bv.distance(other.bv, P1, P2);
  }

  Vec3f getCenter() const { return bv.center(); }

  Matrix3f getOrientation() const { return Matrix3f::getIdentity(); }
};

template<>
inline Matrix3f BVNode<OBB>::getOrientation() const 
{
  return Matrix3f(bv.axis[0][0], bv.axis[1][0], bv.axis[2][0],
                  bv.axis[0][1], bv.axis[1][1], bv.axis[2][1],
                  bv.axis[0][2], bv.axis[1][2], bv.axis[2][2]);
}

template<>
inline Matrix3f BVNode<RSS>::getOrientation() const 
{
  return Matrix3f(bv.axis[0][0], bv.axis[1][0], bv.axis[2][0],
                  bv.axis[0][1], bv.axis[1][1], bv.axis[2][1],
                  bv.axis[0][2], bv.axis[1][2], bv.axis[2][2]);
}

template<>
inline Matrix3f BVNode<OBBRSS>::getOrientation() const 
{
  return Matrix3f(bv.obb.axis[0][0], bv.obb.axis[1][0], bv.obb.axis[2][0],
                  bv.obb.axis[0][1], bv.obb.axis[1][1], bv.obb.axis[2][1],
                  bv.obb.axis[0][2], bv.obb.axis[1][2], bv.obb.axis[2][2]);
}


}

#endif