Program Listing for File broadphase_dynamic_AABB_tree-inl.h
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#ifndef HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_INL_H
#define HPP_FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_INL_H
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h"
#include <limits>
#if HPP_FCL_HAVE_OCTOMAP
#include "hpp/fcl/octree.h"
#endif
#include "hpp/fcl/BV/BV.h"
#include "hpp/fcl/shape/geometric_shapes_utility.h"
namespace hpp {
namespace fcl {
namespace detail {
namespace dynamic_AABB_tree {
#if HPP_FCL_HAVE_OCTOMAP
//==============================================================================
template <typename Derived>
bool collisionRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1,
const OcTree* tree2, const OcTree::OcTreeNode* root2,
const AABB& root2_bv,
const Eigen::MatrixBase<Derived>& translation2,
CollisionCallBackBase* callback) {
if (!root2) {
if (root1->isLeaf()) {
CollisionObject* obj1 = static_cast<CollisionObject*>(root1->data);
if (!obj1->collisionGeometry()->isFree()) {
const AABB& root2_bv_t = translate(root2_bv, translation2);
if (root1->bv.overlap(root2_bv_t)) {
Box* box = new Box();
Transform3f box_tf;
Transform3f tf2 = Transform3f::Identity();
tf2.translation() = translation2;
constructBox(root2_bv, tf2, *box, box_tf);
box->cost_density =
tree2->getOccupancyThres(); // thresholds are 0, 1, so uncertain
CollisionObject obj2(shared_ptr<CollisionGeometry>(box), box_tf);
return (*callback)(obj1, &obj2);
}
}
} else {
if (collisionRecurse_(root1->children[0], tree2, nullptr, root2_bv,
translation2, callback))
return true;
if (collisionRecurse_(root1->children[1], tree2, nullptr, root2_bv,
translation2, callback))
return true;
}
return false;
} else if (root1->isLeaf() && !tree2->nodeHasChildren(root2)) {
CollisionObject* obj1 = static_cast<CollisionObject*>(root1->data);
if (!tree2->isNodeFree(root2) && !obj1->collisionGeometry()->isFree()) {
const AABB& root2_bv_t = translate(root2_bv, translation2);
if (root1->bv.overlap(root2_bv_t)) {
Box* box = new Box();
Transform3f box_tf;
Transform3f tf2 = Transform3f::Identity();
tf2.translation() = translation2;
constructBox(root2_bv, tf2, *box, box_tf);
box->cost_density = root2->getOccupancy();
box->threshold_occupied = tree2->getOccupancyThres();
CollisionObject obj2(shared_ptr<CollisionGeometry>(box), box_tf);
return (*callback)(obj1, &obj2);
} else
return false;
} else
return false;
}
const AABB& root2_bv_t = translate(root2_bv, translation2);
if (tree2->isNodeFree(root2) || !root1->bv.overlap(root2_bv_t)) return false;
if (!tree2->nodeHasChildren(root2) ||
(!root1->isLeaf() && (root1->bv.size() > root2_bv.size()))) {
if (collisionRecurse_(root1->children[0], tree2, root2, root2_bv,
translation2, callback))
return true;
if (collisionRecurse_(root1->children[1], tree2, root2, root2_bv,
translation2, callback))
return true;
} else {
for (unsigned int i = 0; i < 8; ++i) {
if (tree2->nodeChildExists(root2, i)) {
const OcTree::OcTreeNode* child = tree2->getNodeChild(root2, i);
AABB child_bv;
computeChildBV(root2_bv, i, child_bv);
if (collisionRecurse_(root1, tree2, child, child_bv, translation2,
callback))
return true;
} else {
AABB child_bv;
computeChildBV(root2_bv, i, child_bv);
if (collisionRecurse_(root1, tree2, nullptr, child_bv, translation2,
callback))
return true;
}
}
}
return false;
}
//==============================================================================
template <typename Derived>
bool distanceRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1,
const OcTree* tree2, const OcTree::OcTreeNode* root2,
const AABB& root2_bv,
const Eigen::MatrixBase<Derived>& translation2,
DistanceCallBackBase* callback, FCL_REAL& min_dist) {
if (root1->isLeaf() && !tree2->nodeHasChildren(root2)) {
if (tree2->isNodeOccupied(root2)) {
Box* box = new Box();
Transform3f box_tf;
Transform3f tf2 = Transform3f::Identity();
tf2.translation() = translation2;
constructBox(root2_bv, tf2, *box, box_tf);
CollisionObject obj(shared_ptr<CollisionGeometry>(box), box_tf);
return (*callback)(static_cast<CollisionObject*>(root1->data), &obj,
min_dist);
} else
return false;
}
if (!tree2->isNodeOccupied(root2)) return false;
if (!tree2->nodeHasChildren(root2) ||
(!root1->isLeaf() && (root1->bv.size() > root2_bv.size()))) {
const AABB& aabb2 = translate(root2_bv, translation2);
FCL_REAL d1 = aabb2.distance(root1->children[0]->bv);
FCL_REAL d2 = aabb2.distance(root1->children[1]->bv);
if (d2 < d1) {
if (d2 < min_dist) {
if (distanceRecurse_(root1->children[1], tree2, root2, root2_bv,
translation2, callback, min_dist))
return true;
}
if (d1 < min_dist) {
if (distanceRecurse_(root1->children[0], tree2, root2, root2_bv,
translation2, callback, min_dist))
return true;
}
} else {
if (d1 < min_dist) {
if (distanceRecurse_(root1->children[0], tree2, root2, root2_bv,
translation2, callback, min_dist))
return true;
}
if (d2 < min_dist) {
if (distanceRecurse_(root1->children[1], tree2, root2, root2_bv,
translation2, callback, min_dist))
return true;
}
}
} else {
for (unsigned int i = 0; i < 8; ++i) {
if (tree2->nodeChildExists(root2, i)) {
const OcTree::OcTreeNode* child = tree2->getNodeChild(root2, i);
AABB child_bv;
computeChildBV(root2_bv, i, child_bv);
const AABB& aabb2 = translate(child_bv, translation2);
FCL_REAL d = root1->bv.distance(aabb2);
if (d < min_dist) {
if (distanceRecurse_(root1, tree2, child, child_bv, translation2,
callback, min_dist))
return true;
}
}
}
}
return false;
}
#endif
} // namespace dynamic_AABB_tree
} // namespace detail
} // namespace fcl
} // namespace hpp
#endif