traversal_node_setup.cpp

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#include "fcl/traversal/traversal_node_setup.h"

namespace fcl
{


namespace details
{
template<typename BV, typename OrientedNode>
static inline bool setupMeshCollisionOrientedNode(OrientedNode& node,
                                                  const BVHModel<BV>& model1, const Transform3f& tf1,
                                                  const BVHModel<BV>& model2, const Transform3f& tf2,
                                                  const CollisionRequest& request,
                                                  CollisionResult& result)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

  node.tri_indices1 = model1.tri_indices;
  node.tri_indices2 = model2.tri_indices;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;

  node.request = request;
  node.result = &result;

  node.cost_density = model1.cost_density * model2.cost_density;

  relativeTransform(tf1.getRotation(), tf1.getTranslation(), tf2.getRotation(), tf2.getTranslation(), node.R, node.T);

  return true;
}

}


bool initialize(MeshCollisionTraversalNodeOBB& node,
                const BVHModel<OBB>& model1, const Transform3f& tf1,
                const BVHModel<OBB>& model2, const Transform3f& tf2,
                const CollisionRequest& request,
                CollisionResult& result)
{
  return details::setupMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, request, result);
}


bool initialize(MeshCollisionTraversalNodeRSS& node,
                const BVHModel<RSS>& model1, const Transform3f& tf1,
                const BVHModel<RSS>& model2, const Transform3f& tf2,
                const CollisionRequest& request,
                CollisionResult& result)
{
  return details::setupMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, request, result);
}


bool initialize(MeshCollisionTraversalNodekIOS& node,
                const BVHModel<kIOS>& model1, const Transform3f& tf1,
                const BVHModel<kIOS>& model2, const Transform3f& tf2,
                const CollisionRequest& request,
                CollisionResult& result)
{
  return details::setupMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, request, result);
}

bool initialize(MeshCollisionTraversalNodeOBBRSS& node,
                const BVHModel<OBBRSS>& model1, const Transform3f& tf1,
                const BVHModel<OBBRSS>& model2, const Transform3f& tf2,
                const CollisionRequest& request,
                CollisionResult& result)
{
  return details::setupMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, request, result);
}


namespace details
{
template<typename BV, typename OrientedNode>
static inline bool setupMeshDistanceOrientedNode(OrientedNode& node,
                                                 const BVHModel<BV>& model1, const Transform3f& tf1,
                                                 const BVHModel<BV>& model2, const Transform3f& tf2,
                                                 const DistanceRequest& request,
                                                 DistanceResult& result)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;

  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

  node.tri_indices1 = model1.tri_indices;
  node.tri_indices2 = model2.tri_indices;

  relativeTransform(tf1.getRotation(), tf1.getTranslation(), tf2.getRotation(), tf2.getTranslation(), node.R, node.T);

  return true;
}


}

bool initialize(MeshDistanceTraversalNodeRSS& node,
                const BVHModel<RSS>& model1, const Transform3f& tf1,
                const BVHModel<RSS>& model2, const Transform3f& tf2,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, request, result);
}


bool initialize(MeshDistanceTraversalNodekIOS& node,
                const BVHModel<kIOS>& model1, const Transform3f& tf1,
                const BVHModel<kIOS>& model2, const Transform3f& tf2,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, request, result);
}

bool initialize(MeshDistanceTraversalNodeOBBRSS& node,
                const BVHModel<OBBRSS>& model1, const Transform3f& tf1,
                const BVHModel<OBBRSS>& model2, const Transform3f& tf2,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, request, result);
}


}