coal/internal/traversal_node_base.h

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#ifndef COAL_TRAVERSAL_NODE_BASE_H
#define COAL_TRAVERSAL_NODE_BASE_H
 
 
#include "coal/data_types.h"
#include "coal/math/transform.h"
#include "coal/collision_data.h"
 
namespace coal {
 
 
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; }
 
  Transform3s tf1;
 
  Transform3s 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,
                           CoalScalar& sqrDistLowerBound) const = 0;
 
  virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/,
                            CoalScalar& /*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 CoalScalar BVDistanceLowerBound(unsigned int /*b1*/,
                                          unsigned int /*b2*/) const {
    return (std::numeric_limits<CoalScalar>::max)();
  }
 
  virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0;
 
  virtual bool canStop(CoalScalar /*c*/) const { return false; }
 
  DistanceRequest request;
 
  DistanceResult* result;
};
 
 
}  // namespace coal
 
 
#endif