mesh_distance_traversal_node.h

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#ifndef FCL_TRAVERSAL_MESHDISTANCETRAVERSALNODE_H
#define FCL_TRAVERSAL_MESHDISTANCETRAVERSALNODE_H
 
#include "fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/math/bv/kIOS.h"
#include "fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename BV>
class FCL_EXPORT MeshDistanceTraversalNode : public BVHDistanceTraversalNode<BV>
{
public:
 
  using S = typename BV::S;
 
  MeshDistanceTraversalNode();
 
  void leafTesting(int b1, int b2) const;
 
  bool canStop(S c) const;
 
  Vector3<S>* vertices1;
  Vector3<S>* vertices2;
 
  Triangle* tri_indices1;
  Triangle* tri_indices2;
 
  S rel_err;
  S abs_err;
};
 
template <typename BV>
FCL_EXPORT
bool initialize(
    MeshDistanceTraversalNode<BV>& node,
    BVHModel<BV>& model1,
    Transform3<typename BV::S>& tf1,
    BVHModel<BV>& model2,
    Transform3<typename BV::S>& tf2,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result,
    bool use_refit = false, bool refit_bottomup = false);
 
template <typename S>
class FCL_EXPORT MeshDistanceTraversalNodeRSS
    : public MeshDistanceTraversalNode<RSS<S>>
{
public:
  MeshDistanceTraversalNodeRSS();
 
  void preprocess();
 
  void postprocess();
 
  S BVTesting(int b1, int b2) const
  {
    if (this->enable_statistics) this->num_bv_tests++;
 
    return distance(tf.linear(), tf.translation(), this->model1->getBV(b1).bv, this->model2->getBV(b2).bv);
  }
 
  void leafTesting(int b1, int b2) const;
 
  Transform3<S> tf;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
using MeshDistanceTraversalNodeRSSf = MeshDistanceTraversalNodeRSS<float>;
using MeshDistanceTraversalNodeRSSd = MeshDistanceTraversalNodeRSS<double>;
 
template <typename S>
FCL_EXPORT
bool initialize(
    MeshDistanceTraversalNodeRSS<S>& node,
    const BVHModel<RSS<S>>& model1,
    const Transform3<S>& tf1,
    const BVHModel<RSS<S>>& model2,
    const Transform3<S>& tf2,
    const DistanceRequest<S>& request,
    DistanceResult<S>& result);
 
template <typename S>
class FCL_EXPORT MeshDistanceTraversalNodekIOS
    : public MeshDistanceTraversalNode<kIOS<S>>
{
public:
  MeshDistanceTraversalNodekIOS();
 
  void preprocess();
  
  void postprocess();
 
  S BVTesting(int b1, int b2) const
  {
    if (this->enable_statistics) this->num_bv_tests++;
 
    return distance(tf.linear(), tf.translation(), this->model1->getBV(b1).bv, this->model2->getBV(b2).bv);
  }
 
  void leafTesting(int b1, int b2) const;
 
  Transform3<S> tf;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
using MeshDistanceTraversalNodekIOSf = MeshDistanceTraversalNodekIOS<float>;
using MeshDistanceTraversalNodekIOSd = MeshDistanceTraversalNodekIOS<double>;
 
template <typename S>
FCL_EXPORT
bool initialize(
    MeshDistanceTraversalNodekIOS<S>& node,
    const BVHModel<kIOS<S>>& model1,
    const Transform3<S>& tf1,
    const BVHModel<kIOS<S>>& model2,
    const Transform3<S>& tf2,
    const DistanceRequest<S>& request,
    DistanceResult<S>& result);
 
template <typename S>
class FCL_EXPORT MeshDistanceTraversalNodeOBBRSS
    : public MeshDistanceTraversalNode<OBBRSS<S>>
{
public:
  MeshDistanceTraversalNodeOBBRSS();
 
  void preprocess();
 
  void postprocess();
 
  S BVTesting(int b1, int b2) const
  {
    if (this->enable_statistics) this->num_bv_tests++;
 
    return distance(tf.linear(), tf.translation(), this->model1->getBV(b1).bv, this->model2->getBV(b2).bv);
  }
 
  void leafTesting(int b1, int b2) const;
 
  Transform3<S> tf;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
using MeshDistanceTraversalNodeOBBRSSf = MeshDistanceTraversalNodeOBBRSS<float>;
using MeshDistanceTraversalNodeOBBRSSd = MeshDistanceTraversalNodeOBBRSS<double>;
 
template <typename S>
FCL_EXPORT
bool initialize(
    MeshDistanceTraversalNodeOBBRSS<S>& node,
    const BVHModel<OBBRSS<S>>& model1,
    const Transform3<S>& tf1,
    const BVHModel<OBBRSS<S>>& model2,
    const Transform3<S>& tf2,
    const DistanceRequest<S>& request,
    DistanceResult<S>& result);
 
template <typename BV>
FCL_DEPRECATED_EXPORT
void meshDistanceOrientedNodeLeafTesting(
    int b1,
    int b2,
    const BVHModel<BV>* model1,
    const BVHModel<BV>* model2,
    Vector3<typename BV::S>* vertices1,
    Vector3<typename BV::S>* vertices2,
    Triangle* tri_indices1,
    Triangle* tri_indices2,
    const Matrix3<typename BV::S>& R,
    const Vector3<typename BV::S>& T,
    bool enable_statistics,
    int& num_leaf_tests,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result);
 
template <typename BV>
FCL_EXPORT
void meshDistanceOrientedNodeLeafTesting(
    int b1,
    int b2,
    const BVHModel<BV>* model1,
    const BVHModel<BV>* model2,
    Vector3<typename BV::S>* vertices1,
    Vector3<typename BV::S>* vertices2,
    Triangle* tri_indices1,
    Triangle* tri_indices2,
    const Transform3<typename BV::S>& tf,
    bool enable_statistics,
    int& num_leaf_tests,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result);
 
template <typename BV>
FCL_EXPORT
void distancePreprocessOrientedNode(
    const BVHModel<BV>* model1,
    const BVHModel<BV>* model2,
    const Vector3<typename BV::S>* vertices1,
    Vector3<typename BV::S>* vertices2,
    Triangle* tri_indices1,
    Triangle* tri_indices2,
    int init_tri_id1,
    int init_tri_id2,
    const Matrix3<typename BV::S>& R,
    const Vector3<typename BV::S>& T,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result);
 
template <typename BV>
FCL_EXPORT
void distancePreprocessOrientedNode(
    const BVHModel<BV>* model1,
    const BVHModel<BV>* model2,
    const Vector3<typename BV::S>* vertices1,
    Vector3<typename BV::S>* vertices2,
    Triangle* tri_indices1,
    Triangle* tri_indices2,
    int init_tri_id1,
    int init_tri_id2,
    const Transform3<typename BV::S>& tf,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result);
 
template <typename BV>
FCL_EXPORT
void distancePostprocessOrientedNode(
    const BVHModel<BV>* model1,
    const BVHModel<BV>* model2,
    const Transform3<typename BV::S>& tf1,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node-inl.h"
 
#endif