collision_node.cpp

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/*
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 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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#include <../src/collision_node.h>
#include <hpp/fcl/internal/traversal_recurse.h>
 
namespace hpp {
namespace fcl {
 
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 {
    FCL_REAL sqrDistLowerBound = 0;
    if (recursive)
      collisionRecurse(node, 0, 0, front_list, sqrDistLowerBound);
    else
      collisionNonRecurse(node, front_list, sqrDistLowerBound);
 
    if (!std::isnan(sqrDistLowerBound)) {
      if (sqrDistLowerBound == 0) {
        assert(result.distance_lower_bound <= 0);
      } else {
        assert(result.distance_lower_bound * result.distance_lower_bound -
                   sqrDistLowerBound <
               1e-8);
      }
    }
  }
}
 
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 fcl
 
}  // namespace hpp