.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_traversal_node_shapes.h: Program Listing for File traversal_node_shapes.h ================================================ |exhale_lsh| :ref:`Return to documentation for file ` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/internal/traversal_node_shapes.h``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp /* * Software License Agreement (BSD License) * * Copyright (c) 2011-2014, Willow Garage, Inc. * Copyright (c) 2014-2015, Open Source Robotics Foundation * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Open Source Robotics Foundation nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #ifndef HPP_FCL_TRAVERSAL_NODE_SHAPES_H #define HPP_FCL_TRAVERSAL_NODE_SHAPES_H #include #include #include #include #include namespace hpp { namespace fcl { template class HPP_FCL_DLLAPI ShapeCollisionTraversalNode : public CollisionTraversalNodeBase { public: ShapeCollisionTraversalNode(const CollisionRequest& request) : CollisionTraversalNodeBase(request) { model1 = NULL; model2 = NULL; nsolver = NULL; } bool BVDisjoints(int, int, FCL_REAL&) const { HPP_FCL_THROW_PRETTY("Not implemented", std::runtime_error); } void leafCollides(int, int, FCL_REAL&) const { FCL_REAL distance; if (request.enable_contact && request.num_max_contacts > result->numContacts()) { Vec3f contact_point, normal; if (nsolver->shapeIntersect(*model1, tf1, *model2, tf2, distance, true, &contact_point, &normal)) { result->addContact(Contact(model1, model2, Contact::NONE, Contact::NONE, contact_point, normal, distance)); } } else { bool res = nsolver->shapeIntersect(*model1, tf1, *model2, tf2, distance, request.enable_distance_lower_bound, NULL, NULL); if (request.enable_distance_lower_bound) result->updateDistanceLowerBound(distance); if (res) { if (request.num_max_contacts > result->numContacts()) result->addContact( Contact(model1, model2, Contact::NONE, Contact::NONE)); } } } const S1* model1; const S2* model2; const GJKSolver* nsolver; }; template class HPP_FCL_DLLAPI ShapeDistanceTraversalNode : public DistanceTraversalNodeBase { public: ShapeDistanceTraversalNode() : DistanceTraversalNodeBase() { model1 = NULL; model2 = NULL; nsolver = NULL; } FCL_REAL BVDistanceLowerBound(unsigned int, unsigned int) const { return -1; // should not be used } void leafComputeDistance(unsigned int, unsigned int) const { FCL_REAL distance; Vec3f closest_p1, closest_p2, normal; nsolver->shapeDistance(*model1, tf1, *model2, tf2, distance, closest_p1, closest_p2, normal); result->update(distance, model1, model2, DistanceResult::NONE, DistanceResult::NONE, closest_p1, closest_p2, normal); } const S1* model1; const S2* model2; const GJKSolver* nsolver; }; } // namespace fcl } // namespace hpp #endif