BV/BV_node.h

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#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