shape_bvh_collision_traversal_node-inl.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_INL_H
#define FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_INL_H
 
#include "fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h"
 
#include "fcl/common/unused.h"
 
namespace fcl
{
 
namespace detail
{
 
//==============================================================================
template <typename Shape, typename BV>
ShapeBVHCollisionTraversalNode<Shape, BV>::ShapeBVHCollisionTraversalNode()
  : CollisionTraversalNodeBase<typename BV::S>()
{
  model1 = nullptr;
  model2 = nullptr;
 
  num_bv_tests = 0;
  num_leaf_tests = 0;
  query_time_seconds = 0.0;
}
 
//==============================================================================
template <typename Shape, typename BV>
bool ShapeBVHCollisionTraversalNode<Shape, BV>::firstOverSecond(int, int) const
{
  return false;
}
 
//==============================================================================
template <typename Shape, typename BV>
bool ShapeBVHCollisionTraversalNode<Shape, BV>::isSecondNodeLeaf(int b) const
{
  return model2->getBV(b).isLeaf();
}
 
//==============================================================================
template <typename Shape, typename BV>
int ShapeBVHCollisionTraversalNode<Shape, BV>::getSecondLeftChild(int b) const
{
  return model2->getBV(b).leftChild();
}
 
//==============================================================================
template <typename Shape, typename BV>
int ShapeBVHCollisionTraversalNode<Shape, BV>::getSecondRightChild(int b) const
{
  return model2->getBV(b).rightChild();
}
 
//==============================================================================
template <typename Shape, typename BV>
bool ShapeBVHCollisionTraversalNode<Shape, BV>::BVTesting(int b1, int b2) const
{
  FCL_UNUSED(b1);
 
  if(this->enable_statistics) num_bv_tests++;
  return !model2->getBV(b2).bv.overlap(model1_bv);
}
 
} // namespace detail
} // namespace fcl
 
#endif