BV/BV_node.h
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35 
38 #ifndef HPP_FCL_BV_NODE_H
39 #define HPP_FCL_BV_NODE_H
40 
41 #include <hpp/fcl/data_types.h>
42 
43 #include <hpp/fcl/BV/BV.h>
44 #include <iostream>
45 
46 namespace hpp {
47 namespace fcl {
48 
52 
54 struct HPP_FCL_DLLAPI BVNodeBase {
60 
64  unsigned int first_primitive;
65 
67  unsigned int num_primitives;
68 
71  : first_child(0),
72  first_primitive(
73  (std::numeric_limits<unsigned int>::max)()) // value we should help
74  // to raise an issue
75  ,
76  num_primitives(0) {}
77 
79  bool operator==(const BVNodeBase& other) const {
80  return first_child == other.first_child &&
81  first_primitive == other.first_primitive &&
82  num_primitives == other.num_primitives;
83  }
84 
86  bool operator!=(const BVNodeBase& other) const { return !(*this == other); }
87 
90  inline bool isLeaf() const { return first_child < 0; }
91 
94  inline int primitiveId() const { return -(first_child + 1); }
95 
98  inline int leftChild() const { return first_child; }
99 
102  inline int rightChild() const { return first_child + 1; }
103 };
104 
108 template <typename BV>
109 struct HPP_FCL_DLLAPI BVNode : public BVNodeBase {
110  typedef BVNodeBase Base;
111 
113  BV bv;
114 
116  bool operator==(const BVNode& other) const {
117  return Base::operator==(other) && bv == other.bv;
118  }
119 
121  bool operator!=(const BVNode& other) const { return !(*this == other); }
122 
124  bool overlap(const BVNode& other) const { return bv.overlap(other.bv); }
126  bool overlap(const BVNode& other, const CollisionRequest& request,
127  FCL_REAL& sqrDistLowerBound) const {
128  return bv.overlap(other.bv, request, sqrDistLowerBound);
129  }
130 
133  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL,
134  Vec3f* P2 = NULL) const {
135  return bv.distance(other.bv, P1, P2);
136  }
137 
139  Vec3f getCenter() const { return bv.center(); }
140 
142  const Matrix3f& getOrientation() const {
143  static const Matrix3f id3 = Matrix3f::Identity();
144  return id3;
145  }
146 
148  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
150 };
151 
152 template <>
153 inline const Matrix3f& BVNode<OBB>::getOrientation() const {
154  return bv.axes;
155 }
156 
157 template <>
158 inline const Matrix3f& BVNode<RSS>::getOrientation() const {
159  return bv.axes;
160 }
161 
162 template <>
164  return bv.obb.axes;
165 }
166 
167 } // namespace fcl
168 
169 } // namespace hpp
170 
171 #endif
unsigned int first_primitive
The start id the primitive belonging to the current node. The index is referred to the primitive_indi...
Definition: BV/BV_node.h:64
tuple P1
bool overlap(const BVNode &other) const
Check whether two BVNode collide.
Definition: BV/BV_node.h:124
Main namespace.
BV bv
bounding volume storing the geometry
Definition: BV/BV_node.h:113
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
BVNodeBase Base
Definition: BV/BV_node.h:110
Vec3f getCenter() const
Access to the center of the BV.
Definition: BV/BV_node.h:139
int primitiveId() const
Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices)...
Definition: BV/BV_node.h:94
int first_child
An index for first child node or primitive If the value is positive, it is the index of the first chi...
Definition: BV/BV_node.h:59
bool operator==(const BVNode &other) const
Equality operator.
Definition: BV/BV_node.h:116
request to the collision algorithm
double FCL_REAL
Definition: data_types.h:65
bool overlap(const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Check whether two BVNode collide.
Definition: BV/BV_node.h:126
BVNodeBase()
Default constructor.
Definition: BV/BV_node.h:70
const Matrix3f & getOrientation() const
Access to the orientation of the BV.
Definition: BV/BV_node.h:142
FCL_REAL distance(const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distan...
Definition: BV/BV_node.h:133
bool operator!=(const BVNodeBase &other) const
Difference operator.
Definition: BV/BV_node.h:86
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV/BV_node.h:109
int leftChild() const
Return the index of the first child. The index is referred to the bounding volume array (i...
Definition: BV/BV_node.h:98
tuple P2
bool isLeaf() const
Whether current node is a leaf node (i.e. contains a primitive index.
Definition: BV/BV_node.h:90
unsigned int num_primitives
The number of primitives belonging to the current node.
Definition: BV/BV_node.h:67
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
int rightChild() const
Return the index of the second child. The index is referred to the bounding volume array (i...
Definition: BV/BV_node.h:102
bool operator==(const BVNodeBase &other) const
Equality operator.
Definition: BV/BV_node.h:79
bool operator!=(const BVNode &other) const
Difference operator.
Definition: BV/BV_node.h:121
BVNodeBase encodes the tree structure for BVH.
Definition: BV/BV_node.h:54


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autogenerated on Fri Jun 2 2023 02:39:00