Program Listing for File BV_node.h
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#ifndef HPP_FCL_BV_NODE_H
#define HPP_FCL_BV_NODE_H
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/BV/BV.h>
#include <iostream>
namespace hpp {
namespace fcl {
struct HPP_FCL_DLLAPI BVNodeBase {
int first_child;
unsigned int first_primitive;
unsigned int num_primitives;
BVNodeBase()
: first_child(0),
first_primitive(
(std::numeric_limits<unsigned int>::max)()) // value we should help
// to raise an issue
,
num_primitives(0) {}
bool operator==(const BVNodeBase& other) const {
return first_child == other.first_child &&
first_primitive == other.first_primitive &&
num_primitives == other.num_primitives;
}
bool operator!=(const BVNodeBase& other) const { return !(*this == other); }
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 HPP_FCL_DLLAPI BVNode : public BVNodeBase {
typedef BVNodeBase Base;
BV bv;
bool operator==(const BVNode& other) const {
return Base::operator==(other) && bv == other.bv;
}
bool operator!=(const BVNode& other) const { return !(*this == other); }
bool overlap(const BVNode& other) const { return bv.overlap(other.bv); }
bool overlap(const BVNode& other, const CollisionRequest& request,
FCL_REAL& sqrDistLowerBound) const {
return bv.overlap(other.bv, request, sqrDistLowerBound);
}
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(); }
const Matrix3f& getOrientation() const {
static const Matrix3f id3 = Matrix3f::Identity();
return id3;
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
template <>
inline const Matrix3f& BVNode<OBB>::getOrientation() const {
return bv.axes;
}
template <>
inline const Matrix3f& BVNode<RSS>::getOrientation() const {
return bv.axes;
}
template <>
inline const Matrix3f& BVNode<OBBRSS>::getOrientation() const {
return bv.obb.axes;
}
} // namespace fcl
} // namespace hpp
#endif