BV/BV_node.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, 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 HPP_FCL_BV_NODE_H
#define HPP_FCL_BV_NODE_H
 
#include <hpp/fcl/data_types.h>
 
#include <hpp/fcl/BV/BV.h>
#include <iostream>
 
namespace hpp {
namespace fcl {
 
 
struct HPP_FCL_DLLAPI BVNodeBase {
  int first_child;
 
  unsigned int first_primitive;
 
  unsigned int num_primitives;
 
  BVNodeBase()
      : first_child(0),
        first_primitive(
            (std::numeric_limits<unsigned int>::max)())  // value we should help
                                                         // to raise an issue
        ,
        num_primitives(0) {}
 
  bool operator==(const BVNodeBase& other) const {
    return first_child == other.first_child &&
           first_primitive == other.first_primitive &&
           num_primitives == other.num_primitives;
  }
 
  bool operator!=(const BVNodeBase& other) const { return !(*this == other); }
 
  inline bool isLeaf() const { return first_child < 0; }
 
  inline int primitiveId() const { return -(first_child + 1); }
 
  inline int leftChild() const { return first_child; }
 
  inline int rightChild() const { return first_child + 1; }
};
 
template <typename BV>
struct HPP_FCL_DLLAPI BVNode : public BVNodeBase {
  typedef BVNodeBase Base;
 
  BV bv;
 
  bool operator==(const BVNode& other) const {
    return Base::operator==(other) && bv == other.bv;
  }
 
  bool operator!=(const BVNode& other) const { return !(*this == other); }
 
  bool overlap(const BVNode& other) const { return bv.overlap(other.bv); }
  bool overlap(const BVNode& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const {
    return bv.overlap(other.bv, request, sqrDistLowerBound);
  }
 
  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL,
                    Vec3f* P2 = NULL) const {
    return bv.distance(other.bv, P1, P2);
  }
 
  Vec3f getCenter() const { return bv.center(); }
 
  const Matrix3f& getOrientation() const {
    static const Matrix3f id3 = Matrix3f::Identity();
    return id3;
  }
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
template <>
inline const Matrix3f& BVNode<OBB>::getOrientation() const {
  return bv.axes;
}
 
template <>
inline const Matrix3f& BVNode<RSS>::getOrientation() const {
  return bv.axes;
}
 
template <>
inline const Matrix3f& BVNode<OBBRSS>::getOrientation() const {
  return bv.obb.axes;
}
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif