traversal_node_base.h

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#ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
#define HPP_FCL_TRAVERSAL_NODE_BASE_H


#include <hpp/fcl/data_types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>

namespace hpp {
namespace fcl {


class TraversalNodeBase {
 public:
  TraversalNodeBase() : enable_statistics(false) {}

  virtual ~TraversalNodeBase() {}

  virtual void preprocess() {}

  virtual void postprocess() {}

  virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; }

  virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; }

  virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const {
    return true;
  }

  virtual int getFirstLeftChild(unsigned int b) const { return (int)b; }

  virtual int getFirstRightChild(unsigned int b) const { return (int)b; }

  virtual int getSecondLeftChild(unsigned int b) const { return (int)b; }

  virtual int getSecondRightChild(unsigned int b) const { return (int)b; }

  void enableStatistics(bool enable) { enable_statistics = enable; }

  Transform3f tf1;

  Transform3f tf2;

  bool enable_statistics;
};


class CollisionTraversalNodeBase : public TraversalNodeBase {
 public:
  CollisionTraversalNodeBase(const CollisionRequest& request_)
      : request(request_), result(NULL) {}

  virtual ~CollisionTraversalNodeBase() {}

  virtual bool BVDisjoints(unsigned int b1, unsigned int b2,
                           FCL_REAL& sqrDistLowerBound) const = 0;

  virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/,
                            FCL_REAL& /*sqrDistLowerBound*/) const = 0;

  bool canStop() const { return this->request.isSatisfied(*(this->result)); }

  const CollisionRequest& request;

  CollisionResult* result;
};



class DistanceTraversalNodeBase : public TraversalNodeBase {
 public:
  DistanceTraversalNodeBase() : result(NULL) {}

  virtual ~DistanceTraversalNodeBase() {}

  virtual FCL_REAL BVDistanceLowerBound(unsigned int /*b1*/,
                                        unsigned int /*b2*/) const {
    return (std::numeric_limits<FCL_REAL>::max)();
  }

  virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0;

  virtual bool canStop(FCL_REAL /*c*/) const { return false; }

  DistanceRequest request;

  DistanceResult* result;
};


}  // namespace fcl

}  // namespace hpp


#endif