collision_node.cpp

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#include <../src/collision_node.h>
#include "coal/internal/traversal_recurse.h"
 
namespace coal {
 
void checkResultLowerBound(const CollisionResult& result,
                           CoalScalar sqrDistLowerBound) {
  COAL_UNUSED_VARIABLE(result);
  const CoalScalar dummy_precision =
      std::sqrt(Eigen::NumTraits<CoalScalar>::epsilon());
  COAL_UNUSED_VARIABLE(dummy_precision);
  if (sqrDistLowerBound == 0) {
    COAL_ASSERT(result.distance_lower_bound <= dummy_precision,
                "Distance lower bound should not be positive.",
                std::logic_error);
  } else {
    COAL_ASSERT(result.distance_lower_bound * result.distance_lower_bound -
                        sqrDistLowerBound <
                    dummy_precision,
                "Distance lower bound and sqrDistLowerBound should coincide.",
                std::logic_error);
  }
}
 
void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request,
             CollisionResult& result, BVHFrontList* front_list,
             bool recursive) {
  if (front_list && front_list->size() > 0) {
    propagateBVHFrontListCollisionRecurse(node, request, result, front_list);
  } else {
    CoalScalar sqrDistLowerBound = 0;
    if (recursive)
      collisionRecurse(node, 0, 0, front_list, sqrDistLowerBound);
    else
      collisionNonRecurse(node, front_list, sqrDistLowerBound);
    if (!std::isnan(sqrDistLowerBound)) {
      checkResultLowerBound(result, sqrDistLowerBound);
    }
  }
}
 
void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list,
              unsigned int qsize) {
  node->preprocess();
 
  if (qsize <= 2)
    distanceRecurse(node, 0, 0, front_list);
  else
    distanceQueueRecurse(node, 0, 0, front_list, qsize);
 
  node->postprocess();
}
 
}  // namespace coal