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#ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
#define HPP_FCL_TRAVERSAL_NODE_BASE_H
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>
namespace hpp {
namespace fcl {
class TraversalNodeBase {
public:
TraversalNodeBase() : enable_statistics(false) {}
virtual ~TraversalNodeBase() {}
virtual void preprocess() {}
virtual void postprocess() {}
virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; }
virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; }
virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const {
return true;
}
virtual int getFirstLeftChild(unsigned int b) const { return (int)b; }
virtual int getFirstRightChild(unsigned int b) const { return (int)b; }
virtual int getSecondLeftChild(unsigned int b) const { return (int)b; }
virtual int getSecondRightChild(unsigned int b) const { return (int)b; }
void enableStatistics(bool enable) { enable_statistics = enable; }
Transform3f tf1;
Transform3f tf2;
bool enable_statistics;
};
class CollisionTraversalNodeBase : public TraversalNodeBase {
public:
CollisionTraversalNodeBase(const CollisionRequest& request_)
: request(request_), result(NULL) {}
virtual ~CollisionTraversalNodeBase() {}
virtual bool BVDisjoints(unsigned int b1, unsigned int b2,
FCL_REAL& sqrDistLowerBound) const = 0;
virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/,
FCL_REAL& /*sqrDistLowerBound*/) const = 0;
bool canStop() const { return this->request.isSatisfied(*(this->result)); }
const CollisionRequest& request;
CollisionResult* result;
};
class DistanceTraversalNodeBase : public TraversalNodeBase {
public:
DistanceTraversalNodeBase() : result(NULL) {}
virtual ~DistanceTraversalNodeBase() {}
virtual FCL_REAL BVDistanceLowerBound(unsigned int /*b1*/,
unsigned int /*b2*/) const {
return (std::numeric_limits<FCL_REAL>::max)();
}
virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0;
virtual bool canStop(FCL_REAL /*c*/) const { return false; }
DistanceRequest request;
DistanceResult* result;
};
} // namespace fcl
} // namespace hpp
#endif